DWMTestEntry EncodersTest(EncodersData encoders, params DWMCommand[] command)
{
return (client, world, asserter) =>
{
DWMSensorsData data = new DWMSensorsData();
foreach (var c in command)
data = client.Act(c);
asserter.IsEqual(encoders.TotalLeftRotation.Radian, data.Encoders.Sum(x => x.TotalLeftRotation.Radian), 0);
asserter.IsEqual(encoders.TotalRightRotation.Radian, data.Encoders.Sum(x => x.TotalRightRotation.Radian),0);
};
}
DWMTestEntry GAXTest(Point3D accelerations, Angle AroundX, Angle AroundY, Angle AroundZ, params DWMCommand[] command)
{
return (client, world, asserter) =>
{
DWMSensorsData data = new DWMSensorsData();
foreach (var c in command)
data = client.Act(c);
asserter.IsEqual(accelerations.X, data.GAX.Last().Accelerations.X, 0);
asserter.IsEqual(accelerations.Y, data.GAX.Last().Accelerations.Y, 0);
asserter.IsEqual(accelerations.Z, data.GAX.Last().Accelerations.Z, 0);
asserter.IsEqual(AroundZ.Radian, data.GAX.Last().VelocityAroundZ.Radian, 0);
};
}