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Motion: test the middle driver's Enabled status too

pull/96/head
Yuri D'Elia 2021-08-24 17:09:43 +02:00 committed by DRracer
parent 0548c17078
commit 6a9f2a2df9
1 changed files with 7 additions and 0 deletions
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7
tests/unit/modules/motion/test_motion.cpp
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@ -43,24 +43,31 @@ TEST_CASE("motion::basic", "[motion]") {
}
TEST_CASE("motion::auto_axis_enable", "[motion]") {
// TODO: the low-level test performed by getTMCEnabled should be inside a dedicated
// TMC2130 test, not within regular motion tests (although doesn't harm).
// by default the axis should start disabled
REQUIRE(motion.Enabled(Pulley) == false);
REQUIRE(motion.DriverForAxis(Pulley).Enabled() == false);
REQUIRE(getTMCEnabled(axisParams[Pulley].params) == false);
// enable manually the axis
motion.SetEnabled(Pulley, true);
REQUIRE(motion.Enabled(Pulley) == true);
REQUIRE(motion.DriverForAxis(Pulley).Enabled() == true);
REQUIRE(getTMCEnabled(axisParams[Pulley].params) == true);
// now disable
motion.SetEnabled(Pulley, false);
REQUIRE(motion.Enabled(Pulley) == false);
REQUIRE(motion.DriverForAxis(Pulley).Enabled() == false);
REQUIRE(getTMCEnabled(axisParams[Pulley].params) == false);
// planning a move should enable the axis automatically
REQUIRE(motion.QueueEmpty());
motion.PlanMove<Pulley>(1.0_mm, 100.0_mm_s);
REQUIRE(motion.Enabled(Pulley) == true);
REQUIRE(motion.DriverForAxis(Pulley).Enabled() == true);
REQUIRE(getTMCEnabled(axisParams[Pulley].params) == true);
}