tests/virtualhub/motor: Make drive base test CI ready.

MicroPython tests can run for only 10 seconds.

Author: laurensvalk

tests/virtualhub/motor/drivebase_turns.py

@@ -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)