public void CreateCommand_CreatesOwiCommand()
{
var factory = new OwiFactory();
var command = factory.CreateCommand();
Assert.IsInstanceOfType(command, typeof(OwiCommand));
}
public void CreateArm_CreatesOwiArm()
{
var factory = new OwiFactory();
var arm = factory.CreateArm(new Mock <IOwiUsbConnection>().Object);
Assert.IsInstanceOfType(arm, typeof(OwiArm));
}
/// <summary>
/// Initializes a new instance of the MainViewModel class.
/// </summary>
public MainViewModel()
{
var factory = new OwiFactory();
this.owiArm = factory.CreateArm(new LibUsbOwiConnection());
this.owiCommand = factory.CreateCommand();
this.ConnectCommand = new RelayCommand(() => this.OnConnectCommand());
this.LedCommand = new RelayCommand <bool>(state => this.OnLedCommand(state));
this.StopCommand = new RelayCommand(() => this.OnStopCommand());
this.gripperCommander = new MovementCommander(c => c.GripperClose(), c => c.GripperStop(), c => c.GripperOpen());
this.wristCommander = new MovementCommander(c => c.WristDown(), c => c.WristStop(), c => c.WristUp());
this.elbowCommander = new MovementCommander(c => c.ElbowDown(), c => c.ElbowStop(), c => c.ElbowUp());
this.shoulderCommander = new MovementCommander(c => c.ShoulderDown(), c => c.ShoulderStop(), c => c.ShoulderUp());
this.baseCommander = new MovementCommander(c => c.BaseRotateCounterClockwise(), c => c.BaseRotateStop(), c => c.BaseRotateClockwise());
}
public async Task IntegrationTestThatRequiresArm()
{
IOwiFactory factory = new OwiFactory();
IOwiArm arm = factory.CreateArm(new LibUsbOwiConnection());
await arm.ConnectAsync();
IOwiCommand command = factory.CreateCommand().BaseRotateClockwise().ShoulderUp().LedOn();
await arm.SendCommandAsync(command);
Thread.Sleep(2000);
await arm.SendCommandAsync(command.StopAllMovements().LedOff());
await arm.DisconnectAsync();
}
