public void BackwardTest()
{
var driveHelper = new DriveHelper(this.communicationHelper, this.controlSettings);
driveHelper.TurboModeOn = false;
int leftSpeed;
int rightSpeed;
driveHelper.CalculateMotorsSpeed(0, -1, out leftSpeed, out rightSpeed);
driveHelper.GenerateMotorCommands(leftSpeed, rightSpeed, out this.leftMotorCommand, out this.rightMotorCommand);
Assert.AreEqual("L" + MessageHelper.IntToMessageValue(-this.controlSettings.DriveModeNormalMaxSpeed), this.leftMotorCommand);
Assert.AreEqual("R" + MessageHelper.IntToMessageValue(-this.controlSettings.DriveModeNormalMaxSpeed), this.rightMotorCommand);
driveHelper.CalculateMotorsSpeed(0, -0.5, out leftSpeed, out rightSpeed);
driveHelper.GenerateMotorCommands(leftSpeed, rightSpeed, out this.leftMotorCommand, out this.rightMotorCommand);
int speed = Convert.ToInt32(255.0 * 0.5);
speed = DriveHelper.NonlinearSpeedCorrection(speed);
speed = driveHelper.TurboModeOn ? speed : speed * this.controlSettings.DriveModeNormalMaxSpeed / 255;
Assert.AreEqual("L" + MessageHelper.IntToMessageValue(-speed), this.leftMotorCommand);
Assert.AreEqual("R" + MessageHelper.IntToMessageValue(-speed), this.rightMotorCommand);
}
