c_meyer/pxt-ev3
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

added test framework (#113)

Browse Source 
* added test framework

* added toString on motors

* enabling logs
This commit is contained in:
Peli de Halleux
2017-12-19 07:07:50 -08:00
committed by GitHub
parent 60bf3a17d3
commit 9e427898ae
10 changed files with 311 additions and 135 deletions
Download Patch File Download Diff File Expand all files Collapse all files

131
docs/tests/motors.md
View File

@ -1,94 +1,47 @@
```typescript
let errors: string[] = [];
let tachoB = 0;
let tachoC = 0;
function assert(name: string, condition: boolean) {
if (!condition) {
errors.push(name)
brick.print("error:" + name, 0, 60)
}
}
function assertClose(name: string, expected: number, actual: number, tolerance = 5) {
const diff = Math.abs(expected - actual);
assert(name + ` ${expected}vs${actual}`, diff < tolerance);
}
function state(name: string, motor: motors.SingleMotor, line: number) {
brick.print(`${name}: ${motor.speed()}%,${motor.angle()}deg`, 0, 12 * line)
}
function test(name: string, f: () => void, check?: () => void) {
motors.stopAllMotors();
motors.largeB.clearCount()
motors.largeC.clearCount()
motors.largeB.setBrake(false)
motors.largeC.setBrake(false)
motors.largeB.setReversed(false);
motors.largeC.setReversed(false);
loops.pause(500);
tachoB = motors.largeB.angle()
tachoC = motors.largeC.angle()
brick.clearScreen()
brick.print(name, 0, 0)
state("B", motors.largeB, 1)
state("C", motors.largeC, 2)
f();
loops.pause(3000);
state("B", motors.largeB, 3)
state("C", motors.largeC, 4)
if (check)
check()
motors.stopAllMotors();
loops.pause(1000);
}
brick.buttonLeft.onEvent(ButtonEvent.Click, function () {
test("lgBC set speed 25", () => {
motors.largeBC.setSpeed(25)
}, () => {
assertClose("speedB", 25, motors.largeB.speed());
assertClose("speedC", 25, motors.largeC.speed());
});
tests.test("lgB set speed 10", () => {
motors.largeB.setSpeed(10);
loops.pause(100)
tests.assertClose("speedB", 10, motors.largeB.speed(), 2)
});
tests.test("lgB set speed 25 (reversed)", () => {
motors.largeB.setReversed(true)
motors.largeB.setSpeed(25)
loops.pause(100)
tests.assertClose("speedB", -25, motors.largeB.speed(), 2)
});
tests.test("lgBC set speed 5", () => {
motors.largeBC.setSpeed(5)
loops.pause(100)
tests.assertClose("speedB", 5, motors.largeB.speed(), 1);
tests.assertClose("speedC", 5, motors.largeC.speed(), 1);
});
tests.test("lgBC steer 50% 2x", () => {
motors.largeBC.setBrake(true)
motors.largeBC.steer(50, 50, 1, MoveUnit.Rotations)
loops.pause(1000)
tests.assertClose("largeB", 360, motors.largeB.angle(), 5)
motors.largeBC.setBrake(false)
})
brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
test("lgB set speed 10", () => {
motors.largeB.setSpeed(10)
}, () => assertClose("speedB", 10, motors.largeB.speed()));
test("lgB set speed 25 (reversed)", () => {
motors.largeB.setReversed(true)
motors.largeB.setSpeed(25)
}, () => assertClose("speedB", -25, motors.largeB.speed()));
test("lgBC set speed 5", () => {
motors.largeBC.setSpeed(5)
}, () => {
assertClose("speedB", 5, motors.largeB.speed());
assertClose("speedC", 5, motors.largeC.speed());
});
test("lgBC steer 50% 2x", () => {
motors.largeBC.setBrake(true)
motors.largeBC.steer(50, 50, 2, MoveUnit.Rotations)
}, () => assertClose("largeB", 720, motors.largeB.angle()));
test("lgBC steer 50% 500deg", () => {
motors.largeBC.setBrake(true)
motors.largeBC.steer(50, 50, 500, MoveUnit.Degrees)
}, () => assertClose("largeB", 500, motors.largeB.angle()));
test("lgBC steer 50% 2s", () => {
motors.largeBC.setBrake(true)
motors.largeBC.steer(50, 50, 2000, MoveUnit.MilliSeconds)
})
test("lgBC tank 50% 720deg", () => {
motors.largeBC.setBrake(true)
motors.largeBC.tank(50, 50, 720, MoveUnit.Degrees)
}, () => assertClose("largeB", 720, motors.largeB.angle()));
brick.clearScreen()
brick.print(`${errors.length} errors`, 0, 0)
let l = 1;
for (const error of errors)
brick.print(`error: ${error}`, 0, l++ * 12)
tests.test("lgBC steer 50% 500deg", () => {
motors.largeBC.setBrake(true)
motors.largeBC.steer(50, 50, 135, MoveUnit.Degrees)
loops.pause(1000)
tests.assertClose("largeB", 135, motors.largeB.angle(), 5)
});
tests.test("lgBC steer 50% 2s", () => {
motors.largeBC.setBrake(true)
motors.largeBC.steer(50, 50, 500, MoveUnit.MilliSeconds)
loops.pause(1000)
})
tests.test("lgBC tank 50% 720deg", () => {
motors.largeBC.setBrake(true)
motors.largeBC.tank(50, 50, 180, MoveUnit.Degrees)
loops.pause(1000)
tests.assertClose("largeB", 180, motors.largeB.angle(), 5)
});
```
```package
tests
```