public void Execute(McNxtBrick brick, SortRail sortRail, BallPosition position)
{
int tacho = sortRail.GetTachoToPosition(position);
MotorDirection motorDirection = MotorDirection.Forward;
if (tacho < 0)
{
motorDirection = MotorDirection.Backward;
}
var absTacho = (uint)Math.Abs(tacho);
if (absTacho != 0)
{
Debug.WriteLine("Heading for position {0} with tacho {1}",
position,
tacho);
int resultTacho = MotorHelper.RunAndWaitOnCompletion(
(McNxtMotor)brick.MotorA,
absTacho,
motorDirection);
sortRail.CurrentTacho += resultTacho;
}
}
public RobotSwapBallsCommandSequence(SortRobot robot, SortRail sortRail, BallPosition leftBallPosition,
BallPosition rightBallPosition)
{
_robot = robot;
_sortRail = sortRail;
_leftBallPosition = leftBallPosition;
_rightBallPosition = rightBallPosition;
}
public void ShouldFailOnPosition15()
{
// Arange
var sortRail = new SortRail();
// Act
SortRailLegoPosition result = sortRail[(BallPosition) 15];
// Assert
// Expected exception
}
public void ShouldFailOnPosition15()
{
// Arange
var sortRail = new SortRail();
// Act
sortRail.GetTachoToPosition((BallPosition) 15);
// Assert
// Expected exception thrown
}
public void ShouldReturnPositionTacho45OnBallPivot()
{
// Arange
var sortRail = new SortRail();
const int excpected = 45;
// Act
SortRailLegoPosition result = sortRail[BallPosition.Swap];
// Assert
Assert.AreEqual(excpected, result.Position);
}
public void ShouldReturnPositionTacho0OnBallHome()
{
// Arange
var sortRail = new SortRail();
const int excpected = 0;
// Act
SortRailLegoPosition result = sortRail[BallPosition.Home];
// Assert
Assert.AreEqual(excpected, result.Position);
}
public void ShouldHold15Positions()
{
// Arange
var sortRail = new SortRail();
const int expected = 15;
// Act
// None
// Assert
Assert.AreEqual(expected, sortRail.Count);
}
public void ShouldHaveCurrentTachoZero()
{
// Arange
var sortRail = new SortRail();
const int expected = 0;
// Act
// None
// Assert
Assert.AreEqual(expected, sortRail.CurrentTacho);
}
public void ShouldReturn1000ForBall6ByCurrentTacho1640()
{
// Arange
var sortRail = new SortRail {CurrentTacho = 1640};
const int expected = 1000;
// Act
int result = sortRail.GetTachoToPosition(BallPosition.Six);
// Assert
Assert.AreEqual(expected, result);
}
public void ShouldReturn0ForBallPivotByCurrentTacho4950()
{
// Arange
var sortRail = new SortRail {CurrentTacho = 4950};
const int expected = 0;
// Act
int result = sortRail.GetTachoToPosition(BallPosition.Swap);
// Assert
Assert.AreEqual(expected, result);
}
//[TestMethod]
public void ShouldBe4950WhenCurrentTachoIsSetAbove4950()
{
// Arange
var sortRail = new SortRail();
const int tooHighTachoValue = 4951;
const int expected = 4950;
// Act
sortRail.CurrentTacho = tooHighTachoValue;
// Assert
Assert.AreEqual(expected, sortRail.CurrentTacho);
}
public void ShouldBe1000WhenCurrentTachoIsSetTo1000()
{
// Arange
var sortRail = new SortRail();
const int setValue = 1000;
const int expected = 1000;
// Act
sortRail.CurrentTacho += setValue;
// Assert
Assert.AreEqual(expected, sortRail.CurrentTacho);
}
//[TestMethod]
public void Should0WhenCurrentTachoIsSetBelowZero()
{
// Arange
var sortRail = new SortRail();
const int tooLowTachoValue = -1;
const int expected = 0;
// Act
sortRail.CurrentTacho = tooLowTachoValue;
// Assert
Assert.AreEqual(expected, sortRail.CurrentTacho);
}
public void InitRobot()
{
_robot = new SortRobot();
_sortRail = new SortRail();
}
public RobotMoveToPosition(SortRobot robot, SortRail sortRail, BallPosition position)
{
_robot = robot;
_sortRail = sortRail;
_position = position;
}
public RobotScanAllColorsCommandSequence(SortRobot robot, SortRail sortRail)
{
_robot = robot;
_sortRail = sortRail;
}
