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tests/virtualhub/motor: Make drive base test CI ready.
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MicroPython tests can run for only 10 seconds.
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@laurensvalk
laurensvalk committed Nov 16, 2023
1 parent 9b02e79 commit cf36ff1
Showing 1 changed file with 70 additions and 62 deletions.
132 changes: 70 additions & 62 deletions tests/virtualhub/motor/drivebase_turns.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,168 +8,176 @@
motorR = Motor(Port.B)
drive_base = DriveBase(motorL, motorR, wheel_diameter=56, axle_track=80)

try:
import ffi

virtual = True
except ImportError:
virtual = False

# Wait on a real robot but not in the simulator.
def delay(ms):
if virtual:
return
wait(ms)


def wait_until_done():
# Stop immediately if virtual.
if virtual:
drive_base.straight(0)
wait(30)
return

# Wait until the drive base command completes normally.
while not drive_base.done():
wait(10)
wait(250)


STARTUP_DELAY = 500
STARTUP_DELAY_LONG = 500

# Demo 1: Using straight() to move Fwd & Rev in mm
drive_base.straight(200, wait=False)
wait(500)
wait(STARTUP_DELAY)
assert motorL.speed() > 0, "When driving Fwd in straight line, left speed should be +ve"
assert motorR.speed() > 0, "When driving Fwd in straight line, right speed should be +ve"
while not drive_base.done():
wait(10)
wait(250)
wait_until_done()

drive_base.straight(-200, wait=False)
wait(500)
wait(STARTUP_DELAY)
assert motorL.speed() < 0, "When driving Rev in straight line, left speed should be -ve"
assert motorR.speed() < 0, "When driving Rev in straight line, right speed should be -ve"
while not drive_base.done():
wait(10)
wait(250)
wait_until_done()

# Demo 2: Using turn() for in-place turns by angle (+ve = CW, -ve = CCW)
drive_base.turn(90, wait=False)
wait(500)
wait(STARTUP_DELAY)
assert motorL.speed() > 0, "For CW in-place turn 90 degrees, left speed should be +ve"
assert motorR.speed() < 0, "For CW in-place turn 90 degrees, right speed should be -ve"
while not drive_base.done():
wait(10)
wait(500)
wait_until_done()

drive_base.turn(180, wait=False)
wait(500)
wait(STARTUP_DELAY)
assert motorL.speed() > 0, "For CW in-place turn 180 degrees, left speed should be +ve"
assert motorR.speed() < 0, "For CW in-place turn 180 degrees, right speed should be -ve"
while not drive_base.done():
wait(10)
wait(500)
wait_until_done()

drive_base.turn(-270, wait=False)
wait(500)
wait(STARTUP_DELAY)
assert motorL.speed() < 0, "For CCW in-place turn 270 degrees, left speed should be -ve"
assert motorR.speed() > 0, "For CCW in-place turn 270 degrees, right speed should be +ve"
while not drive_base.done():
wait(10)
wait(500)
wait_until_done()

drive_base.turn(1080, wait=False)
wait(500)
wait(STARTUP_DELAY)
assert motorL.speed() > 0, "For CW in-place turn 1080 degrees, left speed should be +ve"
assert motorR.speed() < 0, "For CW in-place turn 1080 degrees, right speed should be -ve"
while not drive_base.done():
wait(10)
wait(500)
wait_until_done()

drive_base.turn(-1440, wait=False)
wait(500)
wait(STARTUP_DELAY)
assert motorL.speed() < 0, "For CCW in-place turn 1440 degrees, left speed should be -ve"
assert motorR.speed() > 0, "For CCW in-place turn 1440 degrees, right speed should be +ve"
while not drive_base.done():
wait(10)
wait(500)
wait_until_done()


# Demo 3: Using curve() drives the 'center point' between the wheels a full
# circle (360 degrees or part thereof) around a circle of 12cm radius.
drive_base.curve(120, 360, wait=False) # Drives forward along circle to robot's right
wait(500)
wait(STARTUP_DELAY)
assert motorL.speed() > 0, "When driving Fwd in CW Curve, left speed should be +ve"
assert motorR.speed() > 0, "When driving Fwd in CW Curve, right speed should be +ve"
assert (
motorL.speed() > motorR.speed()
), "When driving Fwd in CW Curve, motorL should be greater than motorR"
while not drive_base.done():
wait(10)
wait(500)
wait_until_done()

drive_base.curve(-140, 360, wait=False) # Drives backward along circle to robot's right
wait(500)
wait(STARTUP_DELAY)
assert motorL.speed() < 0, "When driving Rev in CCW Curve, left speed should be -ve"
assert motorR.speed() < 0, "When driving Rev in CCW Curve, right speed should be -ve"
assert (
motorL.speed() < motorR.speed()
), "When driving Rev in CCW Curve, motorL should be less (i.e. faster) than motorR"
while not drive_base.done():
wait(10)
wait(500)
wait_until_done()

drive_base.curve(120, -360, wait=False) # Drives forward along circle to robot's left
wait(500)
wait(STARTUP_DELAY)
assert motorL.speed() > 0, "When driving Fwd in CCW Curve, left speed should be +ve"
assert motorR.speed() > 0, "When driving Fwd in CCW Curve, right speed should be +ve"
assert (
motorL.speed() < motorR.speed()
), "When driving Fwd in CCW Curve, motorL should be less than motorR"
while not drive_base.done():
wait(10)
wait(500)
wait_until_done()

drive_base.curve(-120, -360, wait=False) # Drives in reverse along circle to robot's left
wait(500)
wait(STARTUP_DELAY)
assert motorL.speed() < 0, "When driving Rev in CW Curve, left speed should be -ve"
assert motorR.speed() < 0, "When driving Rev in CW Curve, right speed should be -ve"
assert (
motorL.speed() > motorR.speed()
), "When driving Rev in CW Curve, motorL should be greater than motorR"
while not drive_base.done():
wait(10)
wait(500)
wait_until_done()

# Demo 4: Using drive() to control the robot in various ways.
drive_base.drive(200, 0) # Drive straight Fwd
wait(1000)
wait(STARTUP_DELAY_LONG)
assert motorL.speed() > 0, "When driving Fwd in straight line, left speed should be +ve"
assert motorR.speed() > 0, "When driving Fwd in straight line, right speed should be +ve"
wait(500)
delay(500)
drive_base.stop()
wait(250)
delay(250)

drive_base.drive(-200, 0) # Drive straight Rev
wait(1000)
wait(STARTUP_DELAY_LONG)
assert motorL.speed() < 0, "When driving Rev in straight line, left speed should be -ve"
assert motorR.speed() < 0, "When driving Rev in straight line, right speed should be -ve"
wait(500)
delay(500)
drive_base.stop()
wait(250)
delay(250)

drive_base.drive(200, 90) # Drives CW Fwd
wait(1000)
wait(STARTUP_DELAY_LONG)
assert motorL.speed() > 0, "When driving CW Curve Fwd, left speed should be +ve"
assert motorR.speed() > 0, "When driving CW Curve Fwd, right speed should be +ve"
assert (
motorL.speed() > motorR.speed()
), "When driving Fwd in CW Curve, motorL should be greater than motorR"
wait(3000) # 4 seconds x 90 deg/s approx full circle
delay(3000) # 4 seconds x 90 deg/s approx full circle
drive_base.stop()
wait(250)
delay(250)

drive_base.drive(-200, 90) # Drives CW Rev
wait(1000)
wait(STARTUP_DELAY_LONG)
assert motorL.speed() < 0, "When driving CCW Curve Rev, left speed should be -ve"
assert motorR.speed() < 0, "When driving CCW Curve Rev, right speed should be -ve"
assert (
motorR.speed() < motorL.speed()
), "When driving Rev in CCW Curve, motorR should be less than motorL"
wait(3000) # 4 seconds x 90 deg/s = full circle
delay(3000) # 4 seconds x 90 deg/s = full circle
drive_base.stop()
wait(250)
delay(250)

drive_base.drive(200, -90) # Drives CCW Fwd
wait(1000)
wait(STARTUP_DELAY_LONG)
assert motorL.speed() > 0, "When driving CCW Curve Fwd, left speed should be +ve"
assert motorR.speed() > 0, "When driving CCW Curve Fwd, right speed should be +ve"
assert (
motorL.speed() < motorR.speed()
), "When driving Fwd in CCW Curve, motorL should be less than motorR"
wait(3000) # 4 seconds x 90 deg/s = full circle
delay(3000) # 4 seconds x 90 deg/s = full circle
drive_base.stop()
wait(250)
delay(250)

drive_base.drive(-200, -90) # In corrected version it should drive CW in Rev
wait(1000)
wait(STARTUP_DELAY_LONG)
assert motorL.speed() < 0, "When driving CW Curve Rev, left speed should be +ve"
assert motorR.speed() < 0, "When driving CW Curve Rev, right speed should be +ve"
assert (
motorL.speed() < motorR.speed()
), "When driving Rev in CW Curve, motorL should be less than motorR"
wait(3000) # 4 seconds x 90 deg/s = full circle
delay(3000) # 4 seconds x 90 deg/s = full circle
drive_base.stop()
wait(250)
delay(250)

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