private void constructMotorMover()
{
mockMotor = MockMotor.Create();
motorLocator = new MotorLocator(new MockGpio(), mockMotor.Information);
positionSignaler = new PositionSignaler(motorLocator);
motorMover = new MotorMover(3, positionSignaler, motorLocator, mockMotor);
}
public void TestMotorLocatorForwardShiftBackwardMove()
{
var mockMotor = MockMotor.Create();
var locator = new MotorLocator(new MockGpio(), mockMotor.Information);
mockMotor.Direction = MoveDirection.Forward;
Task.Delay(75).Wait();
mockMotor.Direction = MoveDirection.Stopped;
Task.Delay(300).Wait();
Assert.AreEqual(mockMotor.NumTicks, locator.Position, $"Locator count {locator.Position} did not match motor ticks {mockMotor.NumTicks} on forward move.");
var previousPosition = locator.Position;
locator.ShiftPosition(50);
Assert.AreEqual(previousPosition + 50, locator.Position, $"Locator count {locator.Position} did not expected position after shift.");
mockMotor.NumTicks = 0;
mockMotor.Direction = MoveDirection.Backward;
Task.Delay(75).Wait();
mockMotor.Direction = MoveDirection.Stopped;
Task.Delay(300).Wait();
Assert.AreEqual(-mockMotor.NumTicks + previousPosition + 50, locator.Position, $"Locator count {locator.Position} did not match motor ticks after backward move.");
}
public void TestPositionSignalerConstruction()
{
mockMotor = MockMotor.Create();
motorLocator = new MotorLocator(new MockGpio(), mockMotor.Information);
positionSignaler = new PositionSignaler(motorLocator);
positionSignaler.ReachedPosition += finishedCounting;
}
public static MockMotorMover Create()
{
var motor = MockMotor.Create();
var locator = new MotorLocator(new MockGpio(), motor.Information);
var signaler = new PositionSignaler(locator);
return(new MockMotorMover(motor, locator, signaler));
}
private void setup()
{
mockMotor = MockMotor.Create();
locator = new MotorLocator(new MockGpio(), mockMotor.Information);
signaler = new PositionSignaler(locator);
mover = new MotorMover(3, signaler, locator, mockMotor);
topInterrupt = new MockPhotoInterrupter(1, lowerTopIntPos, upperTopIntPos, locator, mockMotor);
bottomInterrupt = new MockPhotoInterrupter(-1, lowerBottomIntPos, upperBottomIntPos, locator, mockMotor);
calibrator = new MotorCalibrator(-5, 5, mover, mockMotor.Information, topInterrupt, bottomInterrupt);
}
private void constructAnAxis(ref IMotorMover mover, ref IMotorCalibrator calibrator, ref IPreciseMotorMover preciseMover, ref IGridMotorMover gridMover)
{
var motor = MockMotor.Create();
var locator = new MotorLocator(new MockGpio(), motor.Information);
var signaler = new PositionSignaler(locator);
mover = new MotorMover(3, signaler, locator, motor);
var topInterrupter = new MockPhotoInterrupter(1, 4, 6, locator, motor);
var bottomInterrupter = new MockPhotoInterrupter(-1, -6, -4, locator, motor);
calibrator = new MotorCalibrator(-5, 5, mover, motor.Information, topInterrupter, bottomInterrupter);
preciseMover = new PreciseMotorMover(mover);
gridMover = new GridMotorMover(preciseMover, calibrator);
}
public void TestMotorLocatorBackwardMove()
{
var mockMotor = MockMotor.Create();
var locator = new MotorLocator(new MockGpio(), mockMotor.Information);
mockMotor.Direction = MoveDirection.Backward;
Task.Delay(75).Wait();
mockMotor.Direction = MoveDirection.Stopped;
Task.Delay(300).Wait();
Assert.AreEqual(mockMotor.NumTicks, -locator.Position, $"Locator count {locator.Position} did not match motor ticks {mockMotor.NumTicks}.");
}
public void TestMockMotor()
{
var motor = MockMotor.Create();
var pos = 0;
motor.Direction = MoveDirection.Forward;
Task.Delay(200).Wait();
pos = motor.NumTicks;
Assert.IsTrue(pos > 0, "Motor did not increase NumTicks when going forwards");
motor.Direction = MoveDirection.Stopped;
Task.Delay(400).Wait();
Assert.IsTrue(motor.NumTicks > pos, "Motor did no extra ticks after stopping");
Assert.AreEqual(MoveDirection.Stopped, motor.Information.Direction, "MotorInformation seems wrong when going forwards.");
pos = 0;
motor.Direction = MoveDirection.Backward;
Task.Delay(200).Wait();
Assert.IsTrue(motor.NumTicks > pos, "Motor did not increase NumTicks when going backwards");
pos = motor.NumTicks;
motor.Direction = MoveDirection.Stopped;
Task.Delay(400).Wait();
Assert.IsTrue(motor.NumTicks > pos, "Motor did no extra ticks after stopping");
Assert.AreEqual(MoveDirection.Stopped, motor.Information.Direction, "MotorInformation seems wrong when going backwards.");
}
