mirror of
https://github.com/hybridgroup/gobot.git
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139 lines
2.9 KiB
Go
139 lines
2.9 KiB
Go
package gpio
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import (
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"strings"
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"testing"
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"github.com/stretchr/testify/assert"
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"gobot.io/x/gobot/v2"
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)
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var _ gobot.Driver = (*MotorDriver)(nil)
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func initTestMotorDriver() *MotorDriver {
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return NewMotorDriver(newGpioTestAdaptor(), "1")
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}
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func TestMotorDriver(t *testing.T) {
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d := NewMotorDriver(newGpioTestAdaptor(), "1")
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assert.NotNil(t, d.Connection())
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}
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func TestMotorDriverStart(t *testing.T) {
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d := initTestMotorDriver()
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assert.NoError(t, d.Start())
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}
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func TestMotorDriverHalt(t *testing.T) {
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d := initTestMotorDriver()
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assert.NoError(t, d.Halt())
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}
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func TestMotorDriverIsOn(t *testing.T) {
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d := initTestMotorDriver()
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d.CurrentMode = "digital"
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d.CurrentState = 1
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assert.True(t, d.IsOn())
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d.CurrentMode = "analog"
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d.CurrentSpeed = 100
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assert.True(t, d.IsOn())
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}
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func TestMotorDriverIsOff(t *testing.T) {
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d := initTestMotorDriver()
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_ = d.Off()
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assert.True(t, d.IsOff())
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}
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func TestMotorDriverOn(t *testing.T) {
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d := initTestMotorDriver()
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d.CurrentMode = "digital"
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_ = d.On()
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assert.Equal(t, uint8(1), d.CurrentState)
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d.CurrentMode = "analog"
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d.CurrentSpeed = 0
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_ = d.On()
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assert.Equal(t, uint8(255), d.CurrentSpeed)
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}
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func TestMotorDriverOff(t *testing.T) {
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d := initTestMotorDriver()
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d.CurrentMode = "digital"
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_ = d.Off()
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assert.Equal(t, uint8(0), d.CurrentState)
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d.CurrentMode = "analog"
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d.CurrentSpeed = 100
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_ = d.Off()
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assert.Equal(t, uint8(0), d.CurrentSpeed)
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}
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func TestMotorDriverToggle(t *testing.T) {
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d := initTestMotorDriver()
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_ = d.Off()
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_ = d.Toggle()
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assert.True(t, d.IsOn())
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_ = d.Toggle()
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assert.False(t, d.IsOn())
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}
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func TestMotorDriverMin(t *testing.T) {
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d := initTestMotorDriver()
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_ = d.Min()
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}
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func TestMotorDriverMax(t *testing.T) {
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d := initTestMotorDriver()
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_ = d.Max()
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}
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func TestMotorDriverSpeed(t *testing.T) {
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d := initTestMotorDriver()
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_ = d.Speed(100)
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}
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func TestMotorDriverForward(t *testing.T) {
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d := initTestMotorDriver()
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_ = d.Forward(100)
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assert.Equal(t, uint8(100), d.CurrentSpeed)
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assert.Equal(t, "forward", d.CurrentDirection)
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}
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func TestMotorDriverBackward(t *testing.T) {
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d := initTestMotorDriver()
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_ = d.Backward(100)
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assert.Equal(t, uint8(100), d.CurrentSpeed)
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assert.Equal(t, "backward", d.CurrentDirection)
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}
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func TestMotorDriverDirection(t *testing.T) {
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d := initTestMotorDriver()
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_ = d.Direction("none")
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d.DirectionPin = "2"
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_ = d.Direction("forward")
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_ = d.Direction("backward")
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}
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func TestMotorDriverDigital(t *testing.T) {
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d := initTestMotorDriver()
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d.SpeedPin = "" // Disable speed
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d.CurrentMode = "digital"
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d.ForwardPin = "2"
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d.BackwardPin = "3"
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_ = d.On()
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assert.Equal(t, uint8(1), d.CurrentState)
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_ = d.Off()
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assert.Equal(t, uint8(0), d.CurrentState)
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}
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func TestMotorDriverDefaultName(t *testing.T) {
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d := initTestMotorDriver()
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assert.True(t, strings.HasPrefix(d.Name(), "Motor"))
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}
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func TestMotorDriverSetName(t *testing.T) {
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d := initTestMotorDriver()
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d.SetName("mybot")
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assert.Equal(t, "mybot", d.Name())
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}
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