public void LoadPopCornScoringTests(LogicPart logic, RMRules rules) { AddTest(logic, "PopCorn_Scores_StartingArea", ScoreTest( 4, rules.Move(64), rules.Rotate(-Angle.HalfPi), rules.Stand(0.1), rules.Grip(), rules.Rotate(Angle.HalfPi), rules.Move(-54), rules.Stand(0.1), rules.Release() )); AddTest(logic, "PopCorn_Scores_UpperCinema", ScoreTest( 4, rules.Move(64), rules.Rotate(-Angle.HalfPi), rules.Stand(0.1), rules.Grip(), rules.Rotate(Angle.HalfPi), rules.Move(130), rules.Rotate(Angle.HalfPi), rules.Move(40), rules.Rotate(-Angle.HalfPi), rules.Move(60), rules.Stand(0.1), rules.Release() )); AddTest(logic, "PopCorn_Scores_BottomCinema", ScoreTest( 4, rules.Move(64), rules.Rotate(-Angle.HalfPi), rules.Stand(0.1), rules.Grip(), rules.Rotate(Angle.HalfPi), rules.Move(130), rules.Rotate(-Angle.HalfPi), rules.Move(40), rules.Rotate(Angle.HalfPi), rules.Move(60), rules.Stand(0.1), rules.Release() )); AddTest(logic, "PopCorn_Scores_BuildingArea", ScoreTest( 0, rules.Move(115), rules.Rotate(Angle.HalfPi), rules.Move(-60), rules.Stand(0.1), rules.Grip(), rules.Move(-15), rules.Stand(0.1), rules.Release(), rules.Move(40), rules.Stand(0.1) )); AddTest(logic, "PopCorn_Scores_TwoCupsSameLocation", ScoreTest( 4, rules.Move(115), rules.Rotate(Angle.HalfPi), rules.Move(-60), rules.Stand(0.1), rules.Grip(), rules.Move(60), rules.Rotate(-Angle.HalfPi), rules.Move(-115), rules.Stand(0.1), rules.Release(), rules.Move(64), rules.Rotate(-Angle.HalfPi), rules.Stand(0.1), rules.Grip(), rules.Rotate(Angle.HalfPi), rules.Move(-40), rules.Stand(0.1), rules.Release() )); AddTest(logic, "PopCorn_Scores_TwoCupsDiffLocations", ScoreTest( 4 + 4, rules.Move(115), rules.Rotate(Angle.HalfPi), rules.Move(-60), rules.Stand(0.1), rules.Grip(), rules.Move(60), rules.Rotate(-Angle.HalfPi), rules.Move(-115), rules.Stand(0.1), rules.Release(), rules.Move(64), rules.Rotate(-Angle.HalfPi), rules.Stand(0.1), rules.Grip(), rules.Rotate(Angle.HalfPi), rules.Move(130), rules.Rotate(-Angle.HalfPi), rules.Move(40), rules.Rotate(Angle.HalfPi), rules.Move(60), rules.Stand(0.1), rules.Release() )); AddTest(logic, "PopCorn_Scores_GrippedShouldBeZero", ScoreTest( 0, rules.Move(64), rules.Rotate(-Angle.HalfPi), rules.Stand(0.1), rules.Grip(), rules.Rotate(Angle.HalfPi), rules.Move(-64), rules.Stand(0.1) )); AddTest(logic, "PopCorn_Scores_FilledCup", ScoreTest( 5, rules.Move(64), rules.Rotate(-Angle.HalfPi), rules.Stand(0.1), rules.Grip(), rules.Rotate(Angle.HalfPi), rules.Move(-30), rules.Rotate(-Angle.HalfPi), rules.Move(-70), rules.Stand(0.1), rules.GetPopCorn(), rules.Move(70), rules.Rotate(Angle.HalfPi), rules.Move(-10), rules.Stand(0.1), rules.Release() )); AddTest(logic, "PopCorn_Scores_TwoCupsFilled", ScoreTest( 5, rules.Move(115), rules.Rotate(Angle.HalfPi), rules.Move(-60), rules.Stand(0.1), rules.Grip(), rules.Move(60), rules.Rotate(-Angle.HalfPi), rules.Move(-115), rules.Stand(0.1), rules.Release(), rules.Move(64), rules.Rotate(-Angle.HalfPi), rules.Stand(0.1), rules.Grip(), rules.Rotate(Angle.HalfPi), rules.Move(-30), rules.Rotate(-Angle.HalfPi), rules.Move(-70), rules.Stand(0.1), rules.GetPopCorn(), rules.Move(70), rules.Rotate(Angle.HalfPi), rules.Move(-10), rules.Stand(0.1), rules.Release() )); }
public void LoadPopCornFillingTests(LogicPart logic, RMRules rules) { AddTest(logic, "PopCorn_Scores_SensorWorking", PopCornTest( 4, rules.Move(64), rules.Rotate(-Angle.HalfPi), rules.Stand(0.1), rules.Grip() )); AddTest(logic, "PopCorn_Filling_CheckWorking", PopCornTest( 4 + 1, rules.Move(64), rules.Rotate(-Angle.HalfPi), rules.Stand(0.1), rules.Grip(), rules.Rotate(Angle.HalfPi), rules.Move(-30), rules.Rotate(-Angle.HalfPi), rules.Move(-70), rules.Stand(0.1), rules.GetPopCorn() )); AddTest(logic, "PopCorn_Filling_Backward", PopCornTest( 4, rules.Move(64), rules.Rotate(-Angle.HalfPi), rules.Stand(0.1), rules.Grip(), rules.Rotate(Angle.HalfPi), rules.Move(-30), rules.Rotate(Angle.HalfPi), rules.Move(70), rules.Stand(0.1), rules.GetPopCorn() )); AddTest(logic, "PopCorn_Filling_DispenserLimit", PopCornTest( 4 + 5, // not 4 + 6 ! rules.Move(64), rules.Rotate(-Angle.HalfPi), rules.Stand(0.1), rules.Grip(), rules.Rotate(Angle.HalfPi), rules.Move(-30), rules.Rotate(-Angle.HalfPi), rules.Move(-70), rules.Stand(0.1), rules.GetPopCorn(), rules.GetPopCorn(), rules.GetPopCorn(), rules.GetPopCorn(), rules.GetPopCorn(), rules.GetPopCorn() )); AddTest(logic, "PopCorn_Filling_CupLimit", PopCornTest( 10, rules.Move(64), rules.Rotate(-Angle.HalfPi), rules.Stand(0.1), rules.Grip(), rules.Rotate(Angle.HalfPi), rules.Move(-30), rules.Rotate(-Angle.HalfPi), rules.Move(-70), rules.Stand(0.1), rules.GetPopCorn(), rules.GetPopCorn(), rules.GetPopCorn(), rules.GetPopCorn(), rules.GetPopCorn(), rules.Rotate(Angle.HalfPi), rules.Move(-30), rules.Rotate(-Angle.HalfPi), rules.Stand(0.1), rules.GetPopCorn(), rules.GetPopCorn(), rules.GetPopCorn(), rules.GetPopCorn(), rules.GetPopCorn() )); AddTest(logic, "PopCorn_Filling_EmptyGripper", PopCornTest( 0, rules.Move(34), rules.Rotate(-Angle.HalfPi), rules.Move(-75), rules.Stand(0.1), rules.GetPopCorn(), rules.GetPopCorn(), rules.GetPopCorn() )); }