Ejemplo n.º 1
0
		void LoadGAXTests(LogicPart logic, DWMRules rules)
		{
			//1. сделать ступенчатое движение с ускорением и посчитать среднее ускорение
			//2. Пустить робота по кругу и проверить, что ускорение смотрит в центр
			//3. Аналогично с угловой скоростью
			//На DWM-е
            logic.Tests["GAX_CircleMoving"] = new DWMMovementTestBase(
                       GAXTest(new Point3D(0, -3, 0), Angle.Zero, Angle.Zero, Angle.Zero,
                       rules.DWMMoveArc(3, Angle.FromGrad(360), false),
                       rules.DWMStand(1.0)));
            logic.Tests["GAX_Rotating"] = new DWMMovementTestBase(
                       GAXTest(new Point3D(0, 0, 0), Angle.Zero, Angle.Zero, Angle.HalfPi,
                       rules.DWMRotate(Angle.Pi), rules.DWMStand(1.0)));

			
		}
Ejemplo n.º 2
0
		public static Tuple<DWMRules, LogicPart> CreateWorldFactory()
        {
            var rules = new DWMRules();

            var logicPart = new LogicPart();
            logicPart.CreateWorld = () => new DWMWorld();
            logicPart.CreateDefaultSettings = () => new Settings { OperationalTimeLimit = 1, TimeLimit = 15 };
			logicPart.CreateWorldState = stateName => new DWMWorldState(0, 0);
            logicPart.PredefinedWorldStates.Add("Empty");
			logicPart.WorldStateType = typeof(DWMWorldState);


			


            return new Tuple<DWMRules, LogicPart>(rules, logicPart);
        }
Ejemplo n.º 3
0
        void LoadDWMTests(LogicPart logic, DWMRules rules)
        {
            logic.Tests["DWM_Movement_LongForward"] = new DWMMovementTestBase(
			LocationTest(100, 0, 0, 10, rules.DWMMoveForward(100.0),
								   rules.DWMStand(1.0)));
            //basic DWM tests
            logic.Tests["DWM_Movement_Forward"] = new DWMMovementTestBase(
                LocationTest(10, 0, 0, 10, rules.DWMMoveForward(10.0),
                                       rules.DWMStand(1.0)));
            logic.Tests["DWM_Movement_Backward"] = new DWMMovementTestBase(
                LocationTest(-10, 0, 0, 10, rules.DWMMoveForward(-10.0),
                                        rules.DWMStand(1.0)));

            logic.Tests["DWM_Movement_RightRotate"] = new DWMMovementTestBase(
                LocationTest(0, 0, -45, 10, rules.DWMRotate(AIRLab.Mathematics.Angle.FromGrad(45.0)),rules.DWMStand(1.0)));

            logic.Tests["DWM_Movement_LeftRotate"] = new DWMMovementTestBase(
                LocationTest(0, 0, 45, 10, rules.DWMRotate(-1 * AIRLab.Mathematics.Angle.FromGrad(45.0)),rules.DWMStand(1.0)));

            logic.Tests["DWM_Movement_ArcRight"] = new DWMMovementTestBase(
                LocationTest(3, 3, 0, 10, rules.DWMMoveArc(3.0, AIRLab.Mathematics.Angle.FromGrad(90.0), true),
                                        rules.DWMStand(1.0)));

            logic.Tests["DWM_Movement_ArcLeft"] = new DWMMovementTestBase(
                LocationTest(3, -3, 0, 10, rules.DWMMoveArc(3.0, AIRLab.Mathematics.Angle.FromGrad(90.0), false),
                                        rules.DWMStand(1.0)));
            //advanced DWM tests
            logic.Tests["DWM_Movement_Turning"] = new DWMMovementTestBase(
                LocationTest(6, 6, 90, 10, rules.DWMMoveForward(3.0),
                                           rules.DWMRotate(AIRLab.Mathematics.Angle.FromGrad(90.0)),
                                           rules.DWMMoveForward(3.0),
                                           rules.DWMRotate(AIRLab.Mathematics.Angle.FromGrad(-90.0)),
                                           rules.DWMMoveForward(3.0),
                                           rules.DWMRotate(AIRLab.Mathematics.Angle.FromGrad(90.0)),
                                           rules.DWMMoveForward(3.0), rules.DWMStand(1.0)));

            logic.Tests["DWM_Movement_ArcMoving"] = new DWMMovementTestBase(
                LocationTest(6, 6, 90, 10, rules.DWMMoveArc(3.0, AIRLab.Mathematics.Angle.FromGrad(90.0), true),
                                           rules.DWMStand(1.0),
                                          rules.DWMMoveArc(3.0, AIRLab.Mathematics.Angle.FromGrad(90.0), false)));

        }
Ejemplo n.º 4
0
        void LoadEncodersTests(LogicPart logic, DWMRules rules)
        {
            logic.Tests["Encoder_MoveForward"] = new DWMMovementTestBase(
                EncodersTest(
                new EncodersData { 
                    Timestamp = 0, 
                    TotalLeftRotation = Angle.FromGrad(114.3), 
                    TotalRightRotation = Angle.FromGrad(114.3) },
                rules.DWMMoveForward(10.0), rules.DWMStand(1.0)));
            logic.Tests["Encoder_ArcMoving"] = new DWMMovementTestBase(
                EncodersTest(
                new EncodersData
                {
                    Timestamp = 0,
                    TotalLeftRotation = Angle.FromGrad(234.0),
                    TotalRightRotation = Angle.FromGrad(52.0)
                },
                rules.DWMMoveArc(3.0, Angle.HalfPi, true)));

			//езда назад, поворот на месте, одна склейка двух-трех движений
        }