gobot.io/x/gobot/v2@v2.1.0/drivers/gpio/stepper_driver_test.go (about)

     1  package gpio
     2  
     3  import (
     4  	"errors"
     5  	"strings"
     6  	"testing"
     7  	"time"
     8  
     9  	"gobot.io/x/gobot/v2/gobottest"
    10  )
    11  
    12  const (
    13  	stepsInRev = 32
    14  )
    15  
    16  func initStepperMotorDriver() *StepperDriver {
    17  	return NewStepperDriver(newGpioTestAdaptor(), [4]string{"7", "11", "13", "15"}, StepperModes.DualPhaseStepping, stepsInRev)
    18  }
    19  
    20  func TestStepperDriverRun(t *testing.T) {
    21  	d := initStepperMotorDriver()
    22  	d.Run()
    23  	gobottest.Assert(t, d.IsMoving(), true)
    24  }
    25  
    26  func TestStepperDriverHalt(t *testing.T) {
    27  	d := initStepperMotorDriver()
    28  	d.Run()
    29  	time.Sleep(200 * time.Millisecond)
    30  	d.Halt()
    31  	gobottest.Assert(t, d.IsMoving(), false)
    32  }
    33  
    34  func TestStepperDriverDefaultName(t *testing.T) {
    35  	d := initStepperMotorDriver()
    36  	gobottest.Assert(t, strings.HasPrefix(d.Name(), "Stepper"), true)
    37  }
    38  
    39  func TestStepperDriverSetName(t *testing.T) {
    40  	name := "SomeStepperSriver"
    41  	d := initStepperMotorDriver()
    42  	d.SetName(name)
    43  	gobottest.Assert(t, d.Name(), name)
    44  }
    45  
    46  func TestStepperDriverSetDirection(t *testing.T) {
    47  	dir := "backward"
    48  	d := initStepperMotorDriver()
    49  	d.SetDirection(dir)
    50  	gobottest.Assert(t, d.direction, dir)
    51  }
    52  
    53  func TestStepperDriverDefaultDirection(t *testing.T) {
    54  	d := initStepperMotorDriver()
    55  	gobottest.Assert(t, d.direction, "forward")
    56  }
    57  
    58  func TestStepperDriverInvalidDirection(t *testing.T) {
    59  	d := initStepperMotorDriver()
    60  	err := d.SetDirection("reverse")
    61  	gobottest.Assert(t, err, errors.New("Invalid direction. Value should be forward or backward"))
    62  }
    63  
    64  func TestStepperDriverMoveForward(t *testing.T) {
    65  	d := initStepperMotorDriver()
    66  	d.Move(1)
    67  	gobottest.Assert(t, d.GetCurrentStep(), 1)
    68  
    69  	d.Move(10)
    70  	gobottest.Assert(t, d.GetCurrentStep(), 11)
    71  }
    72  
    73  func TestStepperDriverMoveBackward(t *testing.T) {
    74  	d := initStepperMotorDriver()
    75  	d.Move(-1)
    76  	gobottest.Assert(t, d.GetCurrentStep(), stepsInRev-1)
    77  
    78  	d.Move(-10)
    79  	gobottest.Assert(t, d.GetCurrentStep(), stepsInRev-11)
    80  }
    81  
    82  func TestStepperDriverMoveFullRotation(t *testing.T) {
    83  	d := initStepperMotorDriver()
    84  	d.Move(stepsInRev)
    85  	gobottest.Assert(t, d.GetCurrentStep(), 0)
    86  }
    87  
    88  func TestStepperDriverMotorSetSpeedMoreThanMax(t *testing.T) {
    89  	d := initStepperMotorDriver()
    90  	m := d.GetMaxSpeed()
    91  
    92  	d.SetSpeed(m + 1)
    93  	gobottest.Assert(t, m, d.speed)
    94  }
    95  
    96  func TestStepperDriverMotorSetSpeedLessOrEqualMax(t *testing.T) {
    97  	d := initStepperMotorDriver()
    98  	m := d.GetMaxSpeed()
    99  
   100  	d.SetSpeed(m - 1)
   101  	gobottest.Assert(t, m-1, d.speed)
   102  
   103  	d.SetSpeed(m)
   104  	gobottest.Assert(t, m, d.speed)
   105  }