51 lines
1.2 KiB
Go
51 lines
1.2 KiB
Go
// Copyright 2017 Google Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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//
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package pipoint
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import (
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"math"
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"testing"
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"juju.nz/x/pipoint/param"
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"juju.nz/x/pipoint/util"
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"github.com/stretchr/testify/assert"
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)
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func TestServo(t *testing.T) {
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p := ¶m.Params{}
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s := NewServo("pan", p)
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util.OverrideNow(1)
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assert.InDelta(t, s.sp.GetFloat64(), 0, 0.001, "Starts at zero")
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s.Set(-math.Pi * 0.5)
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s.Tick()
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assert.InDelta(t, s.pv.GetFloat64(), 1.1, 0.01)
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s.Set(+math.Pi * 0.5)
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s.Tick()
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assert.InDelta(t, s.pv.GetFloat64(), 1.9, 0.01)
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// Stays within limits
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s.Set(-math.Pi * 0.7)
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s.Tick()
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assert.InDelta(t, s.pv.GetFloat64(), 1.0, 0.01)
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s.Set(+math.Pi * 0.7)
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s.Tick()
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assert.InDelta(t, s.pv.GetFloat64(), 2.0, 0.01)
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}
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