67 lines
1.9 KiB
TypeScript
67 lines
1.9 KiB
TypeScript
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let errors: string[] = [];
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let tachoB = 0;
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let tachoC = 0;
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function assert(name: string, condition: boolean) {
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if (!condition) {
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errors.push(name)
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}
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}
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function assertClose(name: string, expected: number, actual: number, tolerance = 10) {
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assert(name + ` ${expected}/${actual}`, Math.abs(expected - actual) < tolerance);
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}
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function test(name: string, f: () => void, check?: () => void) {
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motors.stopAllMotors();
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loops.pause(500);
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tachoB = motors.largeB.tachoCount()
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tachoC = motors.largeB.tachoCount()
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brick.clearScreen()
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brick.print(name, 0, 0)
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f();
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loops.pause(3000);
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motors.stopAllMotors();
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motors.largeB.setReversed(false);
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motors.largeC.setReversed(false);
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motors.mediumA.setReversed(false);
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loops.pause(1000);
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if (check)
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check()
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}
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brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
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test("lgB set speed 100", () => {
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motors.largeB.setSpeed(100)
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});
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test("lgB set speed (reversed)", () => {
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motors.largeB.setReversed(true)
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motors.largeB.setSpeed(100)
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})
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test("lgBC set speed 100", () => {
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motors.largeBC.setSpeed(100)
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})
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test("lgBC steer 50% 2x", () => {
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motors.largeBC.steer(50, 50, 2, MoveUnit.Rotations)
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}, () => {
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assertClose("largeB", 720, motors.largeB.tachoCount() - tachoB)
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});
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test("lgBC steer 50% 500deg", () => {
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motors.largeBC.steer(50, 50, 500, MoveUnit.Degrees)
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}, () => {
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assertClose("largeB", 500, motors.largeB.tachoCount() - tachoB)
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});
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test("lgBC steer 50% 2s", () => {
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motors.largeBC.steer(50, 50, 2, MoveUnit.Seconds)
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})
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test("lgBC tank 50% 2s", () => {
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motors.largeBC.tank(50, 50, 720, MoveUnit.Degrees)
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})
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brick.clearScreen()
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brick.print(`${errors.length} errors`, 0, 0)
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let l = 1;
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for(const error of errors)
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brick.print(`error: ${error}`, 0, l++ * 12)
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})
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