fixing Changed-Flag

test/Robot.changedFlags.test.js

@@ -0,0 +1,112 @@
+const Robot = require('../robot/Robot')
+const MockCmdReceiver = require('./helpers/mockCmdReceiver')
+
+describe('Robot.createMotorPosition - Changed Flags', () => {
+
+  let robot
+
+  beforeEach(() => {
+    robot = new Robot(10, 10, 5)
+
+    // Set initial motor values
+    robot.xMotor = 1
+    robot.alpha = 2
+    robot.beta = 3
+    robot.a = 4
+    robot.b = 5
+    robot.c = 6
+    robot.eMotor = 7
+  })
+
+  test('sets all Changed flags to true on first sendCommand call', () => {
+    const receiver = new MockCmdReceiver()
+    robot.cmdReceivers.push(receiver)
+
+    robot.sendCommand()
+
+    const call = receiver.lastCall()
+    const newPos = call.newPos
+
+    expect(newPos.xMotorChanged).toBe(true)
+    expect(newPos.yMotorChanged).toBe(true)
+    expect(newPos.zMotorChanged).toBe(true)
+    expect(newPos.aMotorChanged).toBe(true)
+    expect(newPos.bMotorChanged).toBe(true)
+    expect(newPos.cMotorChanged).toBe(true)
+    expect(newPos.eMotorChanged).toBe(true)
+  })
+
+  test('sets Changed flags to false when values do not change', () => {
+    const receiver = new MockCmdReceiver()
+    robot.cmdReceivers.push(receiver)
+
+    // First call
+    robot.sendCommand()
+
+    // Second call without changing values
+    robot.sendCommand()
+
+    const call = receiver.lastCall()
+    const newPos = call.newPos
+
+    expect(newPos.xMotorChanged).toBe(false)
+    expect(newPos.yMotorChanged).toBe(false)
+    expect(newPos.zMotorChanged).toBe(false)
+    expect(newPos.aMotorChanged).toBe(false)
+    expect(newPos.bMotorChanged).toBe(false)
+    expect(newPos.cMotorChanged).toBe(false)
+    expect(newPos.eMotorChanged).toBe(false)
+  })
+
+  test('sets Changed flags to true when specific values change', () => {
+    const receiver = new MockCmdReceiver()
+    robot.cmdReceivers.push(receiver)
+
+    // First call
+    robot.sendCommand()
+
+    // Change alpha (yMotor)
+    robot.alpha = 2.1
+
+    // Second call
+    robot.sendCommand()
+
+    const call = receiver.lastCall()
+    const newPos = call.newPos
+
+    expect(newPos.xMotorChanged).toBe(false)
+    expect(newPos.yMotorChanged).toBe(true)  // alpha changed
+    expect(newPos.zMotorChanged).toBe(false)
+    expect(newPos.aMotorChanged).toBe(false)
+    expect(newPos.bMotorChanged).toBe(false)
+    expect(newPos.cMotorChanged).toBe(false)
+    expect(newPos.eMotorChanged).toBe(false)
+  })
+
+  test('sets Changed flags correctly for multiple changes', () => {
+    const receiver = new MockCmdReceiver()
+    robot.cmdReceivers.push(receiver)
+
+    // First call
+    robot.sendCommand()
+
+    // Change beta (zMotor) and b
+    robot.beta = 3.5
+    robot.b = 5.2
+
+    // Second call
+    robot.sendCommand()
+
+    const call = receiver.lastCall()
+    const newPos = call.newPos
+
+    expect(newPos.xMotorChanged).toBe(false)
+    expect(newPos.yMotorChanged).toBe(false)
+    expect(newPos.zMotorChanged).toBe(true)  // beta changed
+    expect(newPos.aMotorChanged).toBe(false)
+    expect(newPos.bMotorChanged).toBe(true)  // b changed
+    expect(newPos.cMotorChanged).toBe(false)
+    expect(newPos.eMotorChanged).toBe(false)
+  })
+
+})