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()); }