motor_test.py

import unittest

import motor
import stub


class TestMotor(unittest.TestCase):
    def test_scan(self):
        ma = stub.MotorAssembly(0, [(60, 79)])
        m = motor.Motor(ma, ma)
        status, steps = m.scan(True, 100, 50)
        self.assertTrue(status)
        self.assertEqual(4, len(steps))
        self.assertEqual(0, steps[0])  # no initial steps needed to scan off of sensor
        self.assertEqual(60, steps[1])  # 60 steps to scan to sensing region
        self.assertEqual(20, steps[2])  # 20 steps to scan off of sensing region
        self.assertEqual(-10, steps[3])  # -10 steps to scan to the middle of sensing region
        self.assertEqual(70, ma.degrees)  # motor should be at 70 degrees now

    def test_scan_odd_len_sensing_region(self):
        ma = stub.MotorAssembly(0, [(60, 80)])  # len 21, midpoint 70
        m = motor.Motor(ma, ma)
        status, steps = m.scan(True, 100, 50)
        self.assertTrue(status)
        self.assertEqual(4, len(steps))
        self.assertEqual(0, steps[0])  # no initial steps needed to scan off of sensor
        self.assertEqual(60, steps[1])  # 60 steps to scan to sensing region
        self.assertEqual(21, steps[2])  # 20 steps to scan off of sensing region
        self.assertEqual(-11, steps[3])  # -10 steps to scan to the middle of sensing region
        self.assertEqual(70, ma.degrees)  # motor should be at 70 degrees now

    def test_scan_sensor_not_found(self):
        ma = stub.MotorAssembly(0, [(60, 79)])
        m = motor.Motor(ma, ma)
        status, steps = m.scan(True, 50, 50)
        self.assertFalse(status)
        self.assertEqual(2, len(steps))
        self.assertEqual(0, steps[0])  # no initial steps needed to scan off of sensor
        self.assertEqual(50, steps[1])  # sensing region not reached after max 50 steps
        self.assertEqual(50, ma.degrees)  # motor should be at 50 degrees now

    def test_scan_sensing_region_too_large(self):
        ma = stub.MotorAssembly(100, [(0, 200)])
        m = motor.Motor(ma, ma)
        status, steps = m.scan(True, 50, 50)
        self.assertFalse(status)
        self.assertEqual(1, len(steps))
        self.assertEqual(-50, steps[0])  # sensing region not departed after max 50 steps
        self.assertEqual(50, ma.degrees)  # motor should be at 50 degrees now

    def test_max_steps(self):
        ma = stub.MotorAssembly(100, [(0, 50)])
        m = motor.Motor(ma, ma, max_steps=25)
        self.assertRaises(ValueError, m.scan, True, 50, 50)