1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
|
require File.expand_path('../acceptance_test_helper', __FILE__)
class MochaExampleTest < Mocha::TestCase
include AcceptanceTest
def setup
setup_acceptance_test
end
def teardown
teardown_acceptance_test
end
class Rover
def initialize(left_track, right_track, steps_per_metre, steps_per_degree)
@left_track = left_track
@right_track = right_track
@steps_per_metre = steps_per_metre
@steps_per_degree = steps_per_degree
end
def forward(metres)
@left_track.step(metres * @steps_per_metre)
@right_track.step(metres * @steps_per_metre)
wait
end
def backward(metres)
forward(-metres)
end
def left(degrees)
@left_track.step(-degrees * @steps_per_degree)
@right_track.step(+degrees * @steps_per_degree)
wait
end
def right(degrees)
left(-degrees)
end
def wait
while @left_track.moving? || @right_track.moving?; end
end
end
def test_should_step_both_tracks_forward_ten_steps
left_track = mock('left_track')
right_track = mock('right_track')
steps_per_metre = 5
rover = Rover.new(left_track, right_track, steps_per_metre, nil)
left_track.expects(:step).with(10)
right_track.expects(:step).with(10)
left_track.stubs(:moving?).returns(false)
right_track.stubs(:moving?).returns(false)
rover.forward(2)
end
def test_should_step_both_tracks_backward_ten_steps
left_track = mock('left_track')
right_track = mock('right_track')
steps_per_metre = 5
rover = Rover.new(left_track, right_track, steps_per_metre, nil)
left_track.expects(:step).with(-10)
right_track.expects(:step).with(-10)
left_track.stubs(:moving?).returns(false)
right_track.stubs(:moving?).returns(false)
rover.backward(2)
end
def test_should_step_left_track_forwards_five_steps_and_right_track_backwards_five_steps
left_track = mock('left_track')
right_track = mock('right_track')
steps_per_degree = 5.0 / 90.0
rover = Rover.new(left_track, right_track, nil, steps_per_degree)
left_track.expects(:step).with(+5)
right_track.expects(:step).with(-5)
left_track.stubs(:moving?).returns(false)
right_track.stubs(:moving?).returns(false)
rover.right(90)
end
def test_should_step_left_track_backwards_five_steps_and_right_track_forwards_five_steps
left_track = mock('left_track')
right_track = mock('right_track')
steps_per_degree = 5.0 / 90.0
rover = Rover.new(left_track, right_track, nil, steps_per_degree)
left_track.expects(:step).with(-5)
right_track.expects(:step).with(+5)
left_track.stubs(:moving?).returns(false)
right_track.stubs(:moving?).returns(false)
rover.left(90)
end
end
|
