public async Task PenUp()
{
if (isPenUp)
{
return;
}
servo.SetAngle(120);
await Task.Delay(300);
isPenUp = true;
//logger.WriteLn("Pen up", LogType.Info);
}
public void TestServeSetOutsideAngleUnder()
{
using (Servo s = NewServo())
{
s.SetAngle(-10.5);
Assert.AreEqual(s.GetAngle(), 0.0, .1);
}
}
public void TestServoSetAngle()
{
using (Servo s = NewServo())
{
s.SetAngle(76.5);
Assert.AreEqual(s.GetAngle(), 76.5);
}
}
public void TestServeSetOutsideAngleOver()
{
using (Servo s = NewServo())
{
s.SetAngle(185.9);
Assert.AreEqual(s.GetAngle(), 180.0, .1);
}
}
public void TestValueChanged()
{
using (Servo s = NewServo())
{
s.SetAngle(80.0);
Assert.That(s.GetAngle, Is.EqualTo(80.0).Within(0.1));
s.ValueChanged(null, null, Value.MakeDouble(.56), NetworkTables.NotifyFlags.NotifyLocal);
Assert.That(s.Get, Is.EqualTo(.56).Within(0.01));
s.ValueChanged(null, null, Value.MakeDouble(-.58), NetworkTables.NotifyFlags.NotifyLocal);
Assert.That(s.Get, Is.EqualTo(0.0).Within(0.01));
}
}
