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105 lines
2.3 KiB
Go
105 lines
2.3 KiB
Go
package gpio
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import (
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"strings"
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"testing"
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"time"
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"github.com/stretchr/testify/assert"
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)
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const (
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stepsInRev = 32
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)
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func initStepperMotorDriver() *StepperDriver {
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return NewStepperDriver(newGpioTestAdaptor(), [4]string{"7", "11", "13", "15"}, StepperModes.DualPhaseStepping, stepsInRev)
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}
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func TestStepperDriverRun(t *testing.T) {
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d := initStepperMotorDriver()
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_ = d.Run()
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assert.True(t, d.IsMoving())
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}
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func TestStepperDriverHalt(t *testing.T) {
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d := initStepperMotorDriver()
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_ = d.Run()
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time.Sleep(200 * time.Millisecond)
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_ = d.Halt()
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assert.False(t, d.IsMoving())
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}
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func TestStepperDriverDefaultName(t *testing.T) {
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d := initStepperMotorDriver()
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assert.True(t, strings.HasPrefix(d.Name(), "Stepper"))
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}
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func TestStepperDriverSetName(t *testing.T) {
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name := "SomeStepperSriver"
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d := initStepperMotorDriver()
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d.SetName(name)
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assert.Equal(t, name, d.Name())
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}
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func TestStepperDriverSetDirection(t *testing.T) {
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dir := "backward"
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d := initStepperMotorDriver()
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_ = d.SetDirection(dir)
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assert.Equal(t, dir, d.direction)
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}
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func TestStepperDriverDefaultDirection(t *testing.T) {
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d := initStepperMotorDriver()
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assert.Equal(t, "forward", d.direction)
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}
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func TestStepperDriverInvalidDirection(t *testing.T) {
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d := initStepperMotorDriver()
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err := d.SetDirection("reverse")
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assert.Error(t, err, "Invalid direction. Value should be forward or backward")
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}
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func TestStepperDriverMoveForward(t *testing.T) {
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d := initStepperMotorDriver()
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_ = d.Move(1)
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assert.Equal(t, 1, d.GetCurrentStep())
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_ = d.Move(10)
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assert.Equal(t, 11, d.GetCurrentStep())
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}
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func TestStepperDriverMoveBackward(t *testing.T) {
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d := initStepperMotorDriver()
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_ = d.Move(-1)
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assert.Equal(t, stepsInRev-1, d.GetCurrentStep())
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_ = d.Move(-10)
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assert.Equal(t, stepsInRev-11, d.GetCurrentStep())
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}
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func TestStepperDriverMoveFullRotation(t *testing.T) {
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d := initStepperMotorDriver()
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_ = d.Move(stepsInRev)
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assert.Equal(t, 0, d.GetCurrentStep())
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}
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func TestStepperDriverMotorSetSpeedMoreThanMax(t *testing.T) {
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d := initStepperMotorDriver()
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m := d.GetMaxSpeed()
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_ = d.SetSpeed(m + 1)
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assert.Equal(t, d.speed, m)
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}
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func TestStepperDriverMotorSetSpeedLessOrEqualMax(t *testing.T) {
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d := initStepperMotorDriver()
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m := d.GetMaxSpeed()
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_ = d.SetSpeed(m - 1)
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assert.Equal(t, d.speed, m-1)
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_ = d.SetSpeed(m)
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assert.Equal(t, d.speed, m)
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}
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