public void TcoDriveSimpleTest() { var drive = new TcoDriveSimple(new MockRootObject(), "servo", "servoSymbol"); Assert.IsInstanceOf <MoveAbsoluteTaskCodeProvider>(drive._moveAbsoluteTask.CodeProvider); Assert.IsInstanceOf <MoveModuloTaskCodeProvider>(drive._moveModuloTask.CodeProvider); Assert.IsInstanceOf <MoveVelocityTaskCodeProvider>(drive._moveVelocityTask.CodeProvider); Assert.IsInstanceOf <MoveRelativeTaskCodeProvider>(drive._moveRelativeTask.CodeProvider); }
public void CodeTest() { var drive = new TcoDriveSimple(new MockRootObject(), "servo", "servoSymbol"); drive._moveModuloTask._position.Synchron = 10; drive._moveModuloTask._direction.Synchron = (short)eDirection.MC_Positive_Direction; drive._moveModuloTask._velocity.Synchron = 20; drive._moveModuloTask._acceleration.Synchron = 30; drive._moveModuloTask._deceleration.Synchron = 40; drive._moveModuloTask._jerk.Synchron = 50; var provider = new MoveModuloTaskCodeProvider(drive); var actual = InOneLine(provider.Code()); var expected = "servoSymbol.MoveModulo( inPosition := 10, inVelocity := 20, inAcceleration := 30, inDeceleration := 40, inJerk := 50, inDirection := 1).Done"; Assert.AreEqual(expected, actual); }
public void CodeTest() { var drive = new TcoDriveSimple(new MockRootObject(), "servo", "servoSymbol"); drive._moveAbsoluteTask._position.Synchron = 10; drive._moveAbsoluteTask._velocity.Synchron = 20; drive._moveAbsoluteTask._acceleration.Synchron = 30; drive._moveAbsoluteTask._deceleration.Synchron = 40; drive._moveAbsoluteTask._jerk.Synchron = 50; var provider = new MoveAbsoluteTaskCodeProvider(drive); var actual = InOneLine(provider.Code()); var expected = "servoSymbol.MoveAbsolute( inPosition := 10, inVelocity := 20, inAcceleration := 30, inDeceleration := 40, inJerk := 50).Done"; Console.WriteLine(actual); Assert.AreEqual(expected, actual); }