112 lines
3.0 KiB
JavaScript
112 lines
3.0 KiB
JavaScript
const Robot = require('../robot/kinematics/Arm3SegmentLinearX')
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const MockCmdReceiver = require('./helpers/mockCmdReceiver')
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describe('Robot.createMotorPosition - Changed Flags', () => {
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let robot
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beforeEach(() => {
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robot = new Robot(10, 10, 5)
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// Set initial motor values
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robot.xMotor = 1
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robot.alpha = 2
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robot.beta = 3
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robot.a = 4
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robot.b = 5
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robot.c = 6
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robot.eMotor = 7
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})
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test('sets all Changed flags to true on first sendCommand call', () => {
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const receiver = new MockCmdReceiver()
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robot.cmdReceivers.push(receiver)
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robot.sendCommand()
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const call = receiver.lastCall()
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const newPos = call.newPos
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expect(newPos.xMotorChanged).toBe(true)
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expect(newPos.yMotorChanged).toBe(true)
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expect(newPos.zMotorChanged).toBe(true)
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expect(newPos.aMotorChanged).toBe(true)
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expect(newPos.bMotorChanged).toBe(true)
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expect(newPos.cMotorChanged).toBe(true)
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expect(newPos.eMotorChanged).toBe(true)
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})
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test('sets Changed flags to false when values do not change', () => {
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const receiver = new MockCmdReceiver()
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robot.cmdReceivers.push(receiver)
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// First call
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robot.sendCommand()
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// Second call without changing values
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robot.sendCommand()
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const call = receiver.lastCall()
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const newPos = call.newPos
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expect(newPos.xMotorChanged).toBe(false)
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expect(newPos.yMotorChanged).toBe(false)
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expect(newPos.zMotorChanged).toBe(false)
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expect(newPos.aMotorChanged).toBe(false)
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expect(newPos.bMotorChanged).toBe(false)
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expect(newPos.cMotorChanged).toBe(false)
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expect(newPos.eMotorChanged).toBe(false)
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})
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test('sets Changed flags to true when specific values change', () => {
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const receiver = new MockCmdReceiver()
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robot.cmdReceivers.push(receiver)
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// First call
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robot.sendCommand()
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// Change alpha (yMotor)
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robot.alpha = 2.1
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// Second call
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robot.sendCommand()
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const call = receiver.lastCall()
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const newPos = call.newPos
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expect(newPos.xMotorChanged).toBe(false)
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expect(newPos.yMotorChanged).toBe(true) // alpha changed
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expect(newPos.zMotorChanged).toBe(false)
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expect(newPos.aMotorChanged).toBe(false)
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expect(newPos.bMotorChanged).toBe(false)
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expect(newPos.cMotorChanged).toBe(false)
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expect(newPos.eMotorChanged).toBe(false)
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})
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test('sets Changed flags correctly for multiple changes', () => {
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const receiver = new MockCmdReceiver()
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robot.cmdReceivers.push(receiver)
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// First call
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robot.sendCommand()
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// Change beta (zMotor) and b
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robot.beta = 3.5
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robot.b = 5.2
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// Second call
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robot.sendCommand()
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const call = receiver.lastCall()
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const newPos = call.newPos
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expect(newPos.xMotorChanged).toBe(false)
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expect(newPos.yMotorChanged).toBe(false)
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expect(newPos.zMotorChanged).toBe(true) // beta changed
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expect(newPos.aMotorChanged).toBe(false)
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expect(newPos.bMotorChanged).toBe(true) // b changed
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expect(newPos.cMotorChanged).toBe(false)
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expect(newPos.eMotorChanged).toBe(false)
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})
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}) |