johnny-five-electron/test/extended/servo.js

Temporary fork to support Electron (to be deprecated)

var MockFirmata = require("../util/mock-firmata"),
  five = require("../../lib/johnny-five.js"),
  sinon = require("sinon"),
  Board = five.Board,
  Servo = five.Servo;

function newBoard() {
  var io = new MockFirmata();
  var board = new Board({
    io: io,
    debug: false,
    repl: false
  });

  io.emit("ready");

  return board;
}

exports["Servo"] = {
  setUp: function(done) {

    this.board = newBoard();

    this.servoWrite = sinon.spy(this.board.io, "servoWrite");

    this.proto = [{
      name: "to"
    }, {
      name: "step"
    }, {
      name: "move"
    }, {
      name: "min"
    }, {
      name: "max"
    }, {
      name: "center"
    }, {
      name: "sweep"
    }, {
      name: "stop"
    }, {
      name: "clockWise"
    }, {
      name: "cw"
    }, {
      name: "counterClockwise"
    }, {
      name: "ccw"
    }, {
      name: "write"
    }];

    this.instance = [{
      name: "id"
    }, {
      name: "pin"
    }, {
      name: "mode"
    }, {
      name: "range"
    }, {
      name: "invert"
    }, {
      name: "type"
    }, {
      name: "specs"
    }, {
      name: "interval"
    }, {
      name: "value"
    }];

    done();
  },

  tearDown: function(done) {
    if (this.servo.animation) {
      this.servo.animation.stop();
    }
    this.servoWrite.restore();
    done();
  },

  center: function(test) {
    test.expect(5);

    this.spy = sinon.spy(Servo.prototype, "center");

    this.servo = new Servo({
      pin: 11,
      board: this.board,
      center: true
    });

    // constructor called .center()
    test.ok(this.spy.called);

    // and servo is actually centered
    test.equal(this.servo.position, 90);

    this.spy.restore();

    this.servo.to(180);
    this.servo.center(1000, 100);

    setTimeout(function() {
      test.ok(this.servo.position > 90);
    }.bind(this), 900);

    // it fired a move:complete event when finished
    this.servo.on("move:complete", function() {
      test.equal(this.servo.position, 90);
      test.ok(1, "event fired");
      test.done();
    }.bind(this));

  },

  min: function(test) {
    test.expect(2);

    this.servo = new Servo({
      pin: 11,
      board: this.board
    });

    this.servo.to(180);
    this.servo.min(1000, 100);

    this.servo.on("move:complete", function() {
      test.equal(this.servo.position, 0);
      test.ok(this.servoWrite.callCount === 101);
      test.done();
    }.bind(this));
  },



  min2: function(test) {
    test.expect(2);

    this.servo = new Servo({
      pin: 11,
      board: this.board
    });

    this.servo.to(180);
    this.servo.min(1000, 100);

    this.servo.on("move:complete", function() {
      test.equal(this.servo.position, 0);
      test.ok(this.servoWrite.callCount === 101);
      test.done();
    }.bind(this));
  },

  rate: function(test) {
    test.expect(2);

    this.servo = new Servo({
      pin: 11,
      board: this.board
    });

    this.servo.to(0);
    this.servo.to(180, 1000, 100);

    setTimeout(function() {
      test.equal(this.servo.position, 180);
      test.equal(this.servoWrite.callCount, 101);

      test.done();
    }.bind(this), 1010);


  },

  min3: function(test) {
    test.expect(2);

    this.servo = new Servo({
      pin: 11,
      board: this.board
    });

    this.servo.to(180);
    this.servo.min(1000, 100);

    this.servo.on("move:complete", function() {
      test.equal(this.servo.position, 0);
      test.ok(this.servoWrite.callCount === 101);
      test.done();
    }.bind(this));
  },

  min4: function(test) {
    test.expect(2);

    this.servo = new Servo({
      pin: 11,
      board: this.board
    });

    this.servo.to(180);
    this.servo.min(1000, 100);

    this.servo.on("move:complete", function() {
      test.equal(this.servo.position, 0);
      test.ok(this.servoWrite.callCount === 101);
      test.done();
    }.bind(this));
  },

  max: function(test) {
    test.expect(2);

    this.servo = new Servo({
      pin: 11,
      board: this.board
    });

    this.servo.to(0);
    this.servo.max(1000, 100);
    //this.servo.to(180, 1000, 100);

    this.servo.on("move:complete", function() {
      test.equal(this.servo.position, 180);
      test.ok(this.servoWrite.callCount === 101);
      test.done();
    }.bind(this));
  },

  completeMoveEmitted: function(test) {
    test.expect(1);

    this.servo = new Servo({
      pin: 11,
      board: this.board
    });

    this.servo.to(0);
    this.servo.to(180, 1000, 100);

    this.servo.on("move:complete", function() {
      test.ok(this.servoWrite.callCount, 1);
      test.done();
    }.bind(this));
  },

  fps: function(test) {
    test.expect(1);

    this.servo = new Servo({
      pin: 11,
      board: this.board,
      fps: 50
    });

    this.servo.to(0);
    this.servo.to(180, 1000);

    this.servo.on("move:complete", function() {
      test.ok(this.servoWrite.callCount === 51);
      test.done();
    }.bind(this));

  },

  /* These tests are commented out while we figure out Issue #829
  degreeChange: function(test) {
    test.expect(1);

    this.servo = new Servo({
      pin: 11,
      board: this.board
    });

    //this.servo.to(180);

    this.servo.to(180, 1000, 100);

    this.servo.on("move:complete", function() {
      console.log("Servo move complete");
      test.ok(this.servoWrite.callCount, 1);

      test.done();
    }.bind(this));
  },

  resolutionLimited: function(test) {
    test.expect(2);

    this.servo = new Servo({
      pin: 11,
      board: this.board
    });

    this.servo.to(0);
    this.servo.to(90, 1000, 255);

    this.servo.on("move:complete", function() {

      test.ok(this.servoWrite.callCount === 91);
      test.equal(this.servo.position, 90);

      test.done();
    }.bind(this));
  }
  */
};