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);
}
