106 lines
2.4 KiB
Go
106 lines
2.4 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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"time"
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"gobot.io/x/gobot/gobottest"
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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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gobottest.Assert(t, d.IsMoving(), true)
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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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gobottest.Assert(t, d.IsMoving(), false)
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}
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func TestStepperDriverDefaultName(t *testing.T) {
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d := initStepperMotorDriver()
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gobottest.Assert(t, strings.HasPrefix(d.Name(), "Stepper"), true)
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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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gobottest.Assert(t, d.Name(), 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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gobottest.Assert(t, d.direction, dir)
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}
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func TestStepperDriverDefaultDirection(t *testing.T) {
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d := initStepperMotorDriver()
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gobottest.Assert(t, d.direction, "forward")
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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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gobottest.Assert(t, err.(error), errors.New("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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gobottest.Assert(t, d.GetCurrentStep(), 1)
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d.Move(10)
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gobottest.Assert(t, d.GetCurrentStep(), 11)
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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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gobottest.Assert(t, d.GetCurrentStep(), stepsInRev-1)
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d.Move(-10)
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gobottest.Assert(t, d.GetCurrentStep(), stepsInRev-11)
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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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gobottest.Assert(t, d.GetCurrentStep(), 0)
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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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gobottest.Assert(t, m, d.speed)
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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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gobottest.Assert(t, m-1, d.speed)
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d.SetSpeed(m)
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gobottest.Assert(t, m, d.speed)
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}
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