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)));
}
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)));
}
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
}