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wrote positive acceleration test in robot. but kinematics now broken.

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Richard Harrington 2013-08-12 00:14:44 -04:00
parent 5a24642f3f
commit e1b69e765c
1 changed files with 26 additions and 0 deletions
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test/robotwar/robot_test.clj
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@ -1,2 +1,28 @@
(ns robotwar.robot-test
(:use [clojure.test]
[midje.sweet]
[robotwar.robot])
(:require [robotwar.register :as register]
[robotwar.world :as world]))
(def world (world/init-world 256.0 256.0 [""]))
(deftest positive-acceleration-test
(testing "application of SPEEDX register in
positive direction has expected behavior"
(let [zeroed-world (assoc-in world [:robots 0 :pos-x] 0)
zeroed-registers (get-in world [:robots 0 :brain :registers])
speedy-world (register/write-register (zeroed-registers "SPEEDX") zeroed-world 140)
speedy-worlds (world/iterate-worlds speedy-world 1.0)]
(is (= (take 6 (map (fn [world]
{:pos-x (get-in world [:robots 0 :pos-x])
:v-x (get-in world [:robots 0 :v-x])
:desired-v-x (get-in world [:robots 0 :desired-v-x])})
speedy-worlds))
[{:pos-x 0.0, :v-x 0.0, :desired-v-x 14.0}
{:pos-x 2.0, :v-x 4.0, :desired-v-x 14.0}
{:pos-x 8.0, :v-x 8.0, :desired-v-x 14.0}
{:pos-x 18.0, :v-x 12.0, :desired-v-x 14.0}
{:pos-x 31.5, :v-x 14.0, :desired-v-x 14.0}
{:pos-x 45.5, :v-x 14.0, :desired-v-x 14.0}])))))