Astronomy/MeadeGeneric
1
0
Fork 0
Code Pull Requests Wiki Activity

Implementation of backlash compensation feature

Browse Source
This commit is contained in:
Colin Dawson
2020-06-02 23:52:25 +01:00
parent 3d47e03240
commit 946fb4b141
8 changed files with 352 additions and 73 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Meade.net.Focuser.UnitTests/FocuserUnitTests.cs
+36 -5
View File
@@ -313,7 +313,6 @@ namespace Meade.net.Focuser.UnitTests
_focuser.Halt();
_sharedResourcesWrapperMock.Verify( x => x.SendBlind(":FQ#"), Times.AtLeastOnce);
_utilMock.Verify( x => x.WaitForMilliseconds(250), Times.AtLeastOnce);
}
[Test]
@@ -395,29 +394,61 @@ namespace Meade.net.Focuser.UnitTests
[TestCase(-200)]
public void Move_WhenIncrementIsNot0_ThenMovesFocuserAndStopsFocuser( int position)
{
_profileProperties.BacklashCompensation = 0;
ConnectFocuser();
_focuser.Move(position);
if (position < 0)
{
_sharedResourcesWrapperMock.Verify( x => x.SendBlind("#:F-#"), Times.AtLeastOnce);
_sharedResourcesWrapperMock.Verify( x => x.SendBlind("#:F-#"), Times.Once);
_sharedResourcesWrapperMock.Verify(x => x.SendBlind("#:F+#"), Times.Never);
}
else
{
_sharedResourcesWrapperMock.Verify(x => x.SendBlind("#:F-#"), Times.Never);
_sharedResourcesWrapperMock.Verify(x => x.SendBlind("#:F+#"), Times.AtLeastOnce);
_sharedResourcesWrapperMock.Verify(x => x.SendBlind("#:F+#"), Times.Once);
}
_sharedResourcesWrapperMock.Verify( x => x.Lock(It.IsAny<Action>()), Times.Once);
_utilMock.Verify(x => x.WaitForMilliseconds(250), Times.AtLeastOnce);
_utilMock.Verify(x => x.WaitForMilliseconds(Math.Abs(position)), Times.Once);
_utilMock.Verify(x => x.WaitForMilliseconds(Math.Abs(_profileProperties.BacklashCompensation)), Times.Never);
_utilMock.Verify(x => x.WaitForMilliseconds(100), Times.Once());
_utilMock.Verify(x => x.WaitForMilliseconds(1000), Times.Once());
}
[TestCase(200, 3, 3)]
[TestCase(-200, 1, 0)]
public void Move_WhenIncrementIsNot0_ThenMovesFocuserAndStopsFocuserWithBacklashCompensation(int position, int hundredMsWaitCount, int backlashCompensaionCount)
{
_profileProperties.BacklashCompensation = 3000;
ConnectFocuser();
_focuser.Move(position);
if (position < 0)
{
_sharedResourcesWrapperMock.Verify(x => x.SendBlind("#:F-#"), Times.Once);
_sharedResourcesWrapperMock.Verify(x => x.SendBlind("#:F+#"), Times.Never);
}
else
{
_sharedResourcesWrapperMock.Verify(x => x.SendBlind("#:F-#"), Times.Once);
_sharedResourcesWrapperMock.Verify(x => x.SendBlind("#:F+#"), Times.Exactly(2));
}
_sharedResourcesWrapperMock.Verify(x => x.Lock(It.IsAny<Action>()), Times.Once);
_utilMock.Verify(x => x.WaitForMilliseconds(Math.Abs(position)), Times.Once);
_utilMock.Verify(x => x.WaitForMilliseconds(Math.Abs(_profileProperties.BacklashCompensation)), Times.Exactly(backlashCompensaionCount));
_utilMock.Verify(x => x.WaitForMilliseconds(100), Times.Exactly(hundredMsWaitCount));
_utilMock.Verify(x => x.WaitForMilliseconds(1000), Times.Once);
}
[Test]
public void Position_WhenCalled_ThenThrowsException()
{