better test support

libs/core/console.ts

@@ -67,8 +67,8 @@ namespace console.screen {
         if (!lines) {
             lines = [];
             console.addListener(log);
-            brick.buttonUp.onEvent(ButtonEvent.Click, () => scroll(1))
+            brick.buttonUp.onEvent(ButtonEvent.Click, () => scroll(-1))
-            brick.buttonDown.onEvent(ButtonEvent.Click, () => scroll(-1))                
+            brick.buttonDown.onEvent(ButtonEvent.Click, () => scroll(1))                
         }
     }
 

libs/core/output.ts

@@ -75,9 +75,9 @@ namespace motors {
      * @param buf message buffer
      */
     //%
-    export function readPWM(buf: Buffer): number {
+    export function readPWM(buf: Buffer): void {
         init()
-        return pwmMM.read(buf);
+        pwmMM.read(buf);
     }
 
     /**
@@ -261,9 +261,16 @@ namespace motors {
         //%
         isReady(): boolean {
             this.init();
-            const r = readPWM(mkCmd(this._port, DAL.opOutputTest, 0))
+            const buf = mkCmd(this._port, DAL.opOutputTest, 2);
-            // 0 = ready, 1 = busy
+            readPWM(buf)
-            return r == 0;
+            const flags = buf.getNumber(NumberFormat.UInt8LE, 2);
+            // TODO: FIX with ~ support
+            for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+                const flag = 1 << i;
+                if ((this._port & flag) && (flags & flag))
+                    return false;
+            }
+            return true;
         }
 
         /**
@@ -529,8 +536,8 @@ namespace motors {
     export const largeCD = new SynchedMotorPair(Output.CD);
 
     function reset(out: Output) {
-        let b = mkCmd(out, DAL.opOutputReset, 0)
+        writePWM(mkCmd(out, DAL.opOutputReset, 0))
-        writePWM(b)
+        writePWM(mkCmd(out, DAL.opOutputClearCount, 0))
     }
 
     function outOffset(out: Output) {

libs/tests/tests.ts

@@ -23,9 +23,12 @@ namespace tests {
             // clear state
             this.reset();
 
-            console.log(`# ${this.name}`)
+            console.log(`> ${this.name}`)
             this.handler()
 
+            if (this.errors.length)
+                console.log('')
+
             // ensure clean state after test
             this.reset();
         }
@@ -39,13 +42,15 @@ namespace tests {
 
         const start = control.millis();
         console.sendToScreen();
-        console.log(`${_tests.length} tests`)
+        console.log(`${_tests.length} tests found`)
+        console.log(` `)
         for (let i = 0; i < _tests.length; ++i) {
             const t = _currentTest = _tests[i];
             t.run();
             _currentTest = undefined;
         }
-        console.log(`${_tests.map(t => t.errors.length).reduce((p, c) => p + c, 0)} X, ${Math.ceil((control.millis() - start) / 1000)}s`)
+        console.log(` `)
+        console.log(`${_tests.length} tests, ${_tests.map(t => t.errors.length).reduce((p, c) => p + c, 0)} errs in ${Math.ceil((control.millis() - start) / 1000)}s`)
     }
 
     /**
@@ -71,7 +76,7 @@ namespace tests {
     //% blockId=testAssert block="assert %message|%condition"
     export function assert(message: string, condition: boolean) {
         if (!condition) {
-            console.log(` X ${message || ''}`)
+            console.log(`!!! ${message || ''}`)
             if (_currentTest)
                 _currentTest.errors.push(message);
         }

tests/motors.ts

@@ -1,47 +1,42 @@
-```typescript
+// add tests package
 tests.test("lgB set speed 10", () => {
     motors.largeB.setSpeed(10);
-    loops.pause(100)
+    loops.pause(500)
     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)
+    loops.pause(500)
     tests.assertClose("speedB", -25, motors.largeB.speed(), 2)
 });
 tests.test("lgBC set speed 5", () => {
     motors.largeBC.setSpeed(5)
-    loops.pause(100)
+    loops.pause(500)
     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)
+    loops.pause(2000)
     tests.assertClose("largeB", 360, motors.largeB.angle(), 5)
     motors.largeBC.setBrake(false)
 })
-tests.test("lgBC steer 50% 500deg", () => {
+tests.test("lgBC steer 360deg", () => {
     motors.largeBC.setBrake(true)
-    motors.largeBC.steer(50, 50, 135, MoveUnit.Degrees)
+    motors.largeBC.steer(50, 50, 360, MoveUnit.Degrees)
-    loops.pause(1000)
+    loops.pause(2000)
-    tests.assertClose("largeB", 135, motors.largeB.angle(), 5)
+    tests.assertClose("largeB", 360, motors.largeB.angle(), 5)
 });
-tests.test("lgBC steer 50% 2s", () => {
+tests.test("lgBC steer 50% 1s", () => {
     motors.largeBC.setBrake(true)
-    motors.largeBC.steer(50, 50, 500, MoveUnit.MilliSeconds)
+    motors.largeBC.steer(10, 50, 1000, MoveUnit.MilliSeconds)
-    loops.pause(1000)
+    loops.pause(2000)
 })
-tests.test("lgBC tank 50% 720deg", () => {
+tests.test("lgBC tank 50% 180deg", () => {
     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
-```