public void CanGetMovementFromLeftTibiaZeroOffset() { ServoBase tibia = new ServoBase(10.4, 0, 5, 0, 0, Side.Left); MovmentComandAX12 movmentComandAX12 = tibia.GetMovement(); List<byte> movmentInBytes = (List<byte>) movmentComandAX12.ToByte(); Assert.AreEqual(5, movmentInBytes[0]); //ServoId Assert.AreEqual(0x1ff, BitConverter.ToInt16(movmentInBytes.ToArray(), 1)); Assert.AreEqual(0x050, BitConverter.ToInt16(movmentInBytes.ToArray(), 3)); }
public void CanGetMovementForLeftCoxaWithOffset() { ServoBase coxa = new ServoBase(10.4, 20, 5, 0, 0, Side.Left); MovmentComandAX12 movmentComandAX12 = coxa.GetMovement(); List<byte> movmentInBytes = (List<byte>)movmentComandAX12.ToByte(); Assert.AreEqual(5, movmentInBytes[0]); //ServoId Assert.AreEqual(0x1BB, BitConverter.ToInt16(movmentInBytes.ToArray(), 1)); Assert.AreEqual(0x050, BitConverter.ToInt16(movmentInBytes.ToArray(), 3)); }
public void CanGetMovementForRightFemurWithOffset() { ServoBase servoBase = new ServoBase(10.4, 20, 5, 0, 0, Side.Right); MovmentComandAX12 movmentComandAX12 = servoBase.GetMovement(); List<byte> movmentInBytes = (List<byte>)movmentComandAX12.ToByte(); Assert.AreEqual(5, movmentInBytes[0]); //ServoId Assert.AreEqual(0x243, BitConverter.ToInt16(movmentInBytes.ToArray(), 1)); Assert.AreEqual(0x050, BitConverter.ToInt16(movmentInBytes.ToArray(), 3)); }