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Add dxl write test

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This commit is contained in:
Simon Alibert
2025-03-23 16:12:24 +01:00
parent 9f46a3d8f9
commit 329d103453
2 changed files with 94 additions and 4 deletions
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44
tests/motors/test_dynamixel.py
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@@ -397,3 +397,47 @@ def test_sync_write_by_names(ids, positions, mock_motors, dummy_motors):
motors_bus.sync_write("Goal_Position", write_values)
assert mock_motors.stubs[stub_name].wait_called()
@pytest.mark.parametrize(
"data_name, dxl_id, value",
[
("Torque_Enable", 1, 0),
("Torque_Enable", 1, 1),
("Goal_Position", 2, 1337),
("Goal_Position", 3, 42),
],
)
def test_write_by_id(data_name, dxl_id, value, mock_motors, dummy_motors):
stub_name = mock_motors.build_write_stub(data_name, dxl_id, value)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect()
motors_bus.write(data_name, dxl_id, value)
assert mock_motors.stubs[stub_name].called
@pytest.mark.parametrize(
"data_name, dxl_id, value",
[
("Torque_Enable", 1, 0),
("Torque_Enable", 1, 1),
("Goal_Position", 2, 1337),
("Goal_Position", 3, 42),
],
)
def test_write_by_name(data_name, dxl_id, value, mock_motors, dummy_motors):
stub_name = mock_motors.build_write_stub(data_name, dxl_id, value)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect()
motors_bus.write(data_name, f"dummy_{dxl_id}", value)
assert mock_motors.stubs[stub_name].called