90 lines
2.0 KiB
Go
90 lines
2.0 KiB
Go
package gpio
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import (
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"errors"
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"strings"
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"testing"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/gobottest"
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)
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var _ gobot.Driver = (*ServoDriver)(nil)
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func initTestServoDriver() *ServoDriver {
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return NewServoDriver(newGpioTestAdaptor(), "1")
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}
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func TestServoDriver(t *testing.T) {
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var err interface{}
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a := newGpioTestAdaptor()
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d := NewServoDriver(a, "1")
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gobottest.Assert(t, d.Pin(), "1")
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gobottest.Refute(t, d.Connection(), nil)
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a.testAdaptorServoWrite = func(string, byte) (err error) {
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return errors.New("pwm error")
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}
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err = d.Command("Min")(nil)
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gobottest.Assert(t, err.(error), errors.New("pwm error"))
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err = d.Command("Center")(nil)
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gobottest.Assert(t, err.(error), errors.New("pwm error"))
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err = d.Command("Max")(nil)
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gobottest.Assert(t, err.(error), errors.New("pwm error"))
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err = d.Command("Move")(map[string]interface{}{"angle": 100.0})
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gobottest.Assert(t, err.(error), errors.New("pwm error"))
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}
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func TestServoDriverStart(t *testing.T) {
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d := initTestServoDriver()
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gobottest.Assert(t, d.Start(), nil)
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}
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func TestServoDriverHalt(t *testing.T) {
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d := initTestServoDriver()
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gobottest.Assert(t, d.Halt(), nil)
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}
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func TestServoDriverMove(t *testing.T) {
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d := initTestServoDriver()
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d.Move(100)
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gobottest.Assert(t, d.CurrentAngle, uint8(100))
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err := d.Move(200)
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gobottest.Assert(t, err, ErrServoOutOfRange)
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}
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func TestServoDriverMin(t *testing.T) {
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d := initTestServoDriver()
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d.Min()
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gobottest.Assert(t, d.CurrentAngle, uint8(0))
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}
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func TestServoDriverMax(t *testing.T) {
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d := initTestServoDriver()
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d.Max()
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gobottest.Assert(t, d.CurrentAngle, uint8(180))
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}
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func TestServoDriverCenter(t *testing.T) {
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d := initTestServoDriver()
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d.Center()
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gobottest.Assert(t, d.CurrentAngle, uint8(90))
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}
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func TestServoDriverDefaultName(t *testing.T) {
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d := initTestServoDriver()
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gobottest.Assert(t, strings.HasPrefix(d.Name(), "Servo"), true)
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}
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func TestServoDriverSetName(t *testing.T) {
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d := initTestServoDriver()
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d.SetName("mybot")
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gobottest.Assert(t, d.Name(), "mybot")
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}
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