public void MotorSpeedConverter_GetDutyCycleFromSpeed_ReturnsExpectedDutyCycle(MotorSpeed motorSpeed, double expectedDutyCycle)
{
// Arrange
var testee = new MotorSpeedConverter();
// Act
var result = testee.GetDutyCycleFromSpeed(motorSpeed);
// Assert
result.Should().Be(expectedDutyCycle);
}
public void MotorController_Stop_CallsMotorActorSetSpeedOnceOnEachSideWithZero()
{
// Arrange
var motorActors = new Mock <IDirectional <IMotorActor> >();
var motorActorLeft = new Mock <IMotorActor>();
var motorActorRight = new Mock <IMotorActor>();
motorActors.SetupGet(_ => _.Right).Returns(motorActorRight.Object);
motorActors.SetupGet(_ => _.Left).Returns(motorActorLeft.Object);
var motorSpeedConverter = new MotorSpeedConverter();
var testee = new MotorController(motorActors.Object, motorSpeedConverter);
// Act
testee.Stop();
// Assert
motorActors.Verify(p => p.Right.SetSpeed(0), Times.Once());
motorActors.Verify(p => p.Left.SetSpeed(0), Times.Once());
}
public void MotorController_SetForward_CallsMotorActorSetSpeedOnceOnEachSide(MotorSpeed motorSpeed)
{
// Arrange
var motorActors = new Mock <IDirectional <IMotorActor> >();
var motorActorLeft = new Mock <IMotorActor>();
var motorActorRight = new Mock <IMotorActor>();
motorActors.SetupGet(_ => _.Right).Returns(motorActorRight.Object);
motorActors.SetupGet(_ => _.Left).Returns(motorActorLeft.Object);
var motorSpeedConverter = new MotorSpeedConverter();
var testee = new MotorController(motorActors.Object, motorSpeedConverter);
// Act
testee.SetForward(motorSpeed);
// Assert
motorActors.Verify(p => p.Right.SetSpeed(It.IsAny <double>()), Times.Once());
motorActors.Verify(p => p.Left.SetSpeed(It.IsAny <double>()), Times.Once());
}
