private static void RideTheHood(ILogger logger)
{
var lFNumber = 1;
var lBNumber = 1;
var rFNumber = 1;
var rBNumber = 1;
IPin lF = new DOPin(lFNumber);
IPin lB = new DOPin(lBNumber);
IPin rF = new DOPin(rFNumber);
IPin rB = new DOPin(rBNumber);
var gpio = new GPIOWrapper();
var rider = new Rider(gpio, lF, rF, lB, rB, logger);
rider.MoveAhead();
Thread.Sleep(2000);
rider.MoveBack();
Thread.Sleep(2000);
rider.TurnLeft();
Thread.Sleep(2000);
rider.TurnRight();
Thread.Sleep(2000);
rider.TurnLeftInPlace();
Thread.Sleep(2000);
rider.TurnRightInPlace();
Thread.Sleep(2000);
rider.Stop();
}
public void When_Constructor_IsCalled_Then_NoExceptions_AreThrown()
{
//a
var gpioWrapper = new GPIOWrapper();
var timer = new HighPrecisionTimer2(gpioWrapper);
//aa
//aaa
}
public bool TryGetValue(int key, out IGPIO value)
{
if (key >= Count)
{
value = null;
return(false);
}
value = new GPIOWrapper(key, connector, disconnector);
return(true);
}
public Rider(GPIOWrapper gpio, IPin leftPin, IPin rightPin, ILogger logger)
{
_gpio = gpio;
_leftPin = leftPin;
_leftBackward = null;
_rightPin = rightPin;
_rightBackward = null;
log = logger;
}
public Rider(GPIOWrapper gpio, IPin leftForward, IPin rightForward, IPin leftBackward, IPin rightBackward, ILogger logger)
{
_gpio = gpio;
_leftForward = leftForward;
_leftBackward = leftBackward;
_rightForward = rightForward;
_rightBackward = rightBackward;
log = logger;
}
private static void DoSonicMeasuring()
{
var gpioWrapper = new GPIOWrapper();
var timingWrapper = new TimingWrapper();
var sonicSensorDriver = new SonicSensorDriver(gpioWrapper, timingWrapper);
sonicSensorDriver.Configure();
do
{
sonicSensorDriver.GetDistance();
Thread.Sleep(500);
}while (true);
}
public void When_TicksToDistanceConverter_IsCalled_For_NTicks_Then_ReturnValue_IsProperLong()
{
//a
var fixture = new Fixture();
fixture.Customize(new AutoMoqCustomization {
ConfigureMembers = true
});
var wrapper = fixture.Create <IWrapGPIO>();
var gpioWrapper = new GPIOWrapper();
var highPrecisionTimer = new HighPrecisionTimer2(gpioWrapper);
var sleptTicks = new Random().Next(1, 100000);
//aa
var calculatedDistance = highPrecisionTimer.ConvertTicksToDistance(sleptTicks);
//aaa
var ticksPerMicrosecond = TimeSpan.TicksPerMillisecond / 1000;
var calculatedBaseDistance = sleptTicks / ticksPerMicrosecond * 0.034 / 2;
Assert.Equal(calculatedBaseDistance, calculatedDistance);
}
