tests/virtualhub/motor: Make drivebase tests actually run.

These used to be artificially shortened on the virtual hub, so never ran in full. Split it in two parts to get under the test timeout instead.

Author: laurensvalk

tests/virtualhub/motor/drivebase_turns.py

@@ -8,28 +8,8 @@
 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)
@@ -77,25 +57,12 @@ def wait_until_done():
 )
 wait_until_done()
 
-drive_base.turn(1080, wait=False)
+drive_base.turn(540, wait=False)
 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"
-)
+assert motorL.speed() > 0, "For CW in-place turn 540 degrees, left speed should be +ve"
+assert motorR.speed() < 0, "For CW in-place turn 540 degrees, right speed should be -ve"
 wait_until_done()
 
-drive_base.turn(-1440, wait=False)
-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"
-)
-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
@@ -135,68 +102,3 @@ def wait_until_done():
     "When driving Rev in CW Curve, motorL should be greater than motorR"
 )
 wait_until_done()
-
-# Demo 4: Using drive() to control the robot in various ways.
-drive_base.drive(200, 0)  # Drive straight Fwd
-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"
-)
-delay(500)
-drive_base.stop()
-delay(250)
-
-drive_base.drive(-200, 0)  # Drive straight Rev
-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"
-)
-delay(500)
-drive_base.stop()
-delay(250)
-
-drive_base.drive(200, 90)  # Drives CW Fwd
-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"
-)
-delay(3000)  # 4 seconds x 90 deg/s approx full circle
-drive_base.stop()
-delay(250)
-
-drive_base.drive(-200, 90)  # Drives CW Rev
-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"
-)
-delay(3000)  # 4 seconds x 90 deg/s = full circle
-drive_base.stop()
-delay(250)
-
-drive_base.drive(200, -90)  # Drives CCW Fwd
-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"
-)
-delay(3000)  # 4 seconds x 90 deg/s = full circle
-drive_base.stop()
-delay(250)
-
-drive_base.drive(-200, -90)  # In corrected version it should drive CW in Rev
-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"
-)
-delay(3000)  # 4 seconds x 90 deg/s = full circle
-drive_base.stop()
-delay(250)

tests/virtualhub/motor/drivebase_turns2.py

@@ -0,0 +1,76 @@
+from pybricks.pupdevices import Motor
+from pybricks.parameters import Direction, Port
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait
+
+# Initialize the drive base.
+motorL = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+motorR = Motor(Port.B)
+drive_base = DriveBase(motorL, motorR, wheel_diameter=56, axle_track=80)
+
+STARTUP_DELAY = 500
+
+# Demo 4: Using drive() to control the robot in various ways.
+drive_base.drive(200, 0)  # Drive straight Fwd
+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"
+)
+wait(500)
+drive_base.stop()
+wait(250)
+
+drive_base.drive(-200, 0)  # Drive straight Rev
+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"
+)
+wait(500)
+drive_base.stop()
+wait(250)
+
+drive_base.drive(200, 90)  # Drives CW Fwd
+wait(STARTUP_DELAY)
+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
+drive_base.stop()
+wait(250)
+
+drive_base.drive(-200, 90)  # Drives CW Rev
+wait(STARTUP_DELAY)
+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
+drive_base.stop()
+wait(250)
+
+drive_base.drive(200, -90)  # Drives CCW Fwd
+wait(STARTUP_DELAY)
+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
+drive_base.stop()
+wait(250)
+
+drive_base.drive(-200, -90)  # In corrected version it should drive CW in Rev
+wait(STARTUP_DELAY)
+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
+drive_base.stop()
+wait(250)