125 lines
3.3 KiB
Go
125 lines
3.3 KiB
Go
package i2c
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import (
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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 = (*AdafruitMotorHatDriver)(nil)
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// --------- HELPERS
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func initTestAdafruitMotorHatDriver() (driver *AdafruitMotorHatDriver) {
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driver, _ = initTestAdafruitMotorHatDriverWithStubbedAdaptor()
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return
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}
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func initTestAdafruitMotorHatDriverWithStubbedAdaptor() (*AdafruitMotorHatDriver, *i2cTestAdaptor) {
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adaptor := newI2cTestAdaptor()
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return NewAdafruitMotorHatDriver(adaptor), adaptor
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}
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// --------- TESTS
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func TestNewAdafruitMotorHatDriver(t *testing.T) {
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var adafruit interface{} = NewAdafruitMotorHatDriver(newI2cTestAdaptor())
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_, ok := adafruit.(*AdafruitMotorHatDriver)
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if !ok {
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t.Errorf("AdafruitMotorHatDriver() should have returned a *AdafruitMotorHatDriver")
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}
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a := NewAdafruitMotorHatDriver(newI2cTestAdaptor())
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gobottest.Assert(t, strings.HasPrefix(a.Name(), "AdafruitMotorHat"), true)
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}
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// Methods
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func TestAdafruitMotorHatDriverStart(t *testing.T) {
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ada, _ := initTestAdafruitMotorHatDriverWithStubbedAdaptor()
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gobottest.Assert(t, ada.Start(), nil)
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}
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func TestAdafruitMotorHatDriverHalt(t *testing.T) {
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ada, _ := initTestAdafruitMotorHatDriverWithStubbedAdaptor()
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gobottest.Assert(t, ada.Halt(), nil)
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}
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func TestSetHatAddresses(t *testing.T) {
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ada, _ := initTestAdafruitMotorHatDriverWithStubbedAdaptor()
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motorHatAddr := 0x61
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servoHatAddr := 0x41
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gobottest.Assert(t, ada.SetMotorHatAddress(motorHatAddr), nil)
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gobottest.Assert(t, ada.SetServoHatAddress(servoHatAddr), nil)
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}
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func TestAdafruitMotorHatDriverSetServoMotorFreq(t *testing.T) {
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ada, _ := initTestAdafruitMotorHatDriverWithStubbedAdaptor()
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gobottest.Assert(t, ada.Start(), nil)
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freq := 60.0
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err := ada.SetServoMotorFreq(freq)
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gobottest.Assert(t, err, nil)
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}
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func TestAdafruitMotorHatDriverSetServoMotorPulse(t *testing.T) {
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ada, _ := initTestAdafruitMotorHatDriverWithStubbedAdaptor()
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gobottest.Assert(t, ada.Start(), nil)
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var channel byte = 7
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var on int32 = 1234
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var off int32 = 4321
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err := ada.SetServoMotorPulse(channel, on, off)
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gobottest.Assert(t, err, nil)
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}
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func TestAdafruitMotorHatDriverSetDCMotorSpeed(t *testing.T) {
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ada, _ := initTestAdafruitMotorHatDriverWithStubbedAdaptor()
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gobottest.Assert(t, ada.Start(), nil)
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dcMotor := 1
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var speed int32 = 255
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err := ada.SetDCMotorSpeed(dcMotor, speed)
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gobottest.Assert(t, err, nil)
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}
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func TestAdafruitMotorHatDriverRunDCMotor(t *testing.T) {
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ada, _ := initTestAdafruitMotorHatDriverWithStubbedAdaptor()
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gobottest.Assert(t, ada.Start(), nil)
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dcMotor := 1
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// NOTE: not using the direction constant to prevent importing
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// the i2c package
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err := ada.RunDCMotor(dcMotor, 1)
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gobottest.Assert(t, err, nil)
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}
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func TestAdafruitMotorHatDriverSetStepperMotorSpeed(t *testing.T) {
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ada, _ := initTestAdafruitMotorHatDriverWithStubbedAdaptor()
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gobottest.Assert(t, ada.Start(), nil)
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stepperMotor := 1
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rpm := 30
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gobottest.Assert(t, ada.SetStepperMotorSpeed(stepperMotor, rpm), nil)
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}
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func TestAdafruitMotorHatDriverStepperStep(t *testing.T) {
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ada, _ := initTestAdafruitMotorHatDriverWithStubbedAdaptor()
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gobottest.Assert(t, ada.Start(), nil)
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// NOTE: not using the direction and style constants to prevent importing
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// the i2c package
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stepperMotor := 0
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steps := 50
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err := ada.Step(stepperMotor, steps, 1, 3)
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gobottest.Assert(t, err, nil)
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}
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