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motion: Also test for the simplest case of a single+unplanned move

pull/230/head
Yuri D'Elia 2022-10-22 17:39:09 +02:00
parent 7053755b0e
commit 3567a3dcd5
1 changed files with 13 additions and 0 deletions
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13
tests/unit/modules/motion/test_motion.cpp
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@ -302,6 +302,19 @@ TEST_CASE("motion::queue_abort_3", "[motion]") {
REQUIRE(motion.QueueEmpty(Pulley)); REQUIRE(motion.QueueEmpty(Pulley));
} }
TEST_CASE("motion::queue_abort_4", "[motion]") {
// queue should start empty
ResetMotionSim();
// enqueue a move on a single axis
motion.PlanMoveTo(Pulley, 10, 1);
REQUIRE(!motion.QueueEmpty(Pulley));
// abort the single unscheduled move
motion.AbortPlannedMoves(Pulley);
REQUIRE(motion.QueueEmpty(Pulley));
}
TEST_CASE("motion::long_pulley_move", "[motion]") { TEST_CASE("motion::long_pulley_move", "[motion]") {
ResetMotionSim(); ResetMotionSim();
constexpr auto mm400 = 400._mm; constexpr auto mm400 = 400._mm;