163 lines
4.3 KiB
Go
163 lines
4.3 KiB
Go
package i2c
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import (
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"errors"
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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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// this ensures that the implementation implements the gobot.Driver interface
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var _ gobot.Driver = (*Adafruit2348Driver)(nil)
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func initTestAdafruit2348WithStubbedAdaptor() (*Adafruit2348Driver, *i2cTestAdaptor) {
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a := newI2cTestAdaptor()
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d := NewAdafruit2348Driver(a)
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if err := d.Start(); err != nil {
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panic(err)
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}
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return d, a
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}
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func TestNewAdafruit2348Driver(t *testing.T) {
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// arrange & act
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d := NewAdafruit2348Driver(newI2cTestAdaptor())
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// assert
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assert.IsType(t, &Adafruit2348Driver{}, d)
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assert.True(t, strings.HasPrefix(d.Name(), "Adafruit2348MotorHat"))
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assert.Equal(t, 0x40, d.defaultAddress) // the default address of PCA9685 driver
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assert.Equal(t, 0x60, d.Config.GetAddressOrDefault(d.defaultAddress)) // the really used address
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}
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func TestAdafruit2348Options(t *testing.T) {
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// This is a general test, that options are applied in constructor by using the common WithBus() option and
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// least one of this driver. Further tests for options can also be done by call of "WithOption(val)(d)".
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// arrange & act
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d := NewAdafruit2348Driver(newI2cTestAdaptor(), WithBus(2), WithAddress(0x45))
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// assert
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assert.Equal(t, 2, d.GetBusOrDefault(1))
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assert.Equal(t, 0x45, d.GetAddressOrDefault(2))
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}
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func TestAdafruit2348SetDCMotorSpeed(t *testing.T) {
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// arrange
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d, a := initTestAdafruit2348WithStubbedAdaptor()
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a.written = []byte{} // reset writes of former test
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const (
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dcMotor = 1
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speed = 255
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)
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// act
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err := d.SetDCMotorSpeed(dcMotor, speed)
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// assert
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assert.NoError(t, err)
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assert.Equal(t, 8, len(a.written)) // detailed test, see "TestPCA9685SetPWM"
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}
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func TestAdafruit2348SetDCMotorSpeedError(t *testing.T) {
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// arrange
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d, a := initTestAdafruit2348WithStubbedAdaptor()
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a.i2cWriteImpl = func([]byte) (int, error) {
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return 0, errors.New("write error")
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}
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// act & assert
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assert.ErrorContains(t, d.SetDCMotorSpeed(1, 255), "write error")
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}
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func TestAdafruit2348RunDCMotor(t *testing.T) {
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// arrange
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d, _ := initTestAdafruit2348WithStubbedAdaptor()
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const dcMotor = 1
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// act & assert
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assert.NoError(t, d.RunDCMotor(dcMotor, Adafruit2348Forward))
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assert.NoError(t, d.RunDCMotor(dcMotor, Adafruit2348Backward))
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assert.NoError(t, d.RunDCMotor(dcMotor, Adafruit2348Release))
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}
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func TestAdafruit2348RunDCMotorError(t *testing.T) {
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// arrange
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d, a := initTestAdafruit2348WithStubbedAdaptor()
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a.i2cWriteImpl = func([]byte) (int, error) {
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return 0, errors.New("write error")
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}
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const dcMotor = 1
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// act & assert
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assert.ErrorContains(t, d.RunDCMotor(dcMotor, Adafruit2348Forward), "write error")
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assert.ErrorContains(t, d.RunDCMotor(dcMotor, Adafruit2348Backward), "write error")
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assert.ErrorContains(t, d.RunDCMotor(dcMotor, Adafruit2348Release), "write error")
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}
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func TestAdafruit2348SetStepperMotorSpeed(t *testing.T) {
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// arrange
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d, _ := initTestAdafruit2348WithStubbedAdaptor()
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const (
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stepperMotor = 1
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rpm = 30
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)
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// act & assert
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assert.NoError(t, d.SetStepperMotorSpeed(stepperMotor, rpm))
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assert.Equal(t, 0.01, d.stepperMotors[stepperMotor].secPerStep) // 60/(revSteps*rpm), revSteps=200
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}
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func TestAdafruit2348StepperSingleStep(t *testing.T) {
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// arrange
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d, _ := initTestAdafruit2348WithStubbedAdaptor()
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const (
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stepperMotor = 0
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steps = 50
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back = 1
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single = 0
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)
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// act
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err := d.Step(stepperMotor, steps, back, single)
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// assert
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assert.NoError(t, err)
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}
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func TestAdafruit2348StepperDoubleStep(t *testing.T) {
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// arrange
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d, _ := initTestAdafruit2348WithStubbedAdaptor()
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const (
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stepperMotor = 0
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steps = 50
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back = 1
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double = 1
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)
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// act
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err := d.Step(stepperMotor, steps, back, double)
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// assert
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assert.NoError(t, err)
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}
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func TestAdafruit2348StepperInterleaveStep(t *testing.T) {
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// arrange
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d, _ := initTestAdafruit2348WithStubbedAdaptor()
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const (
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stepperMotor = 0
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steps = 50
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back = 1
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interleave = 2
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)
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// act
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err := d.Step(stepperMotor, steps, back, interleave)
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// assert
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assert.NoError(t, err)
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}
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func TestAdafruit2348StepperMicroStep(t *testing.T) {
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// arrange
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d, _ := initTestAdafruit2348WithStubbedAdaptor()
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const (
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stepperMotor = 0
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steps = 50
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back = 1
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micro = 3
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)
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// act
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err := d.Step(stepperMotor, steps, back, micro)
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// assert
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assert.NoError(t, err)
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}
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