Add unit tests

package.json

@@ -5,7 +5,8 @@
   "main": "index.js",
   "scripts": {
     "test:lint": "eslint *.js lib/**/*.js test/**/*.js",
-    "test": "npm run test:lint"
+    "test:unit": "ava test/*_test.js",
+    "test": "npm run test:lint && npm run test:unit"
   },
   "engines": {
     "node": ">=4.4.7"
@@ -33,6 +34,7 @@
     "lodash.clamp": "^4.0.2"
   },
   "devDependencies": {
+    "ava": "^0.15.2",
     "sinon": "^1.17.4"
   }
 }

test/diff_steer_test.js

@@ -0,0 +1,45 @@
+import test from 'ava';
+import diffSteer from '../index';
+import INPUTS from './inputs';
+
+test('Full forward', t => {
+  t.plan(2);
+  const motorSpeeds = diffSteer(...INPUTS.FULL_FWD);
+  t.is(motorSpeeds[0], 255);
+  t.is(motorSpeeds[1], 255);
+});
+
+test('Full reverse', t => {
+  t.plan(2);
+  const motorSpeeds = diffSteer(...INPUTS.FULL_REV);
+  t.is(motorSpeeds[0], -255);
+  t.is(motorSpeeds[1], -255);
+});
+
+test('Full right', t => {
+  t.plan(2);
+  const motorSpeeds = diffSteer(...INPUTS.FULL_RIGHT);
+  t.is(motorSpeeds[0], 255);
+  t.is(motorSpeeds[1], -255);
+});
+
+test('Full left', t => {
+  t.plan(2);
+  const motorSpeeds = diffSteer(...INPUTS.FULL_LEFT);
+  t.is(motorSpeeds[0], -255);
+  t.is(motorSpeeds[1], 255);
+});
+
+test('Forward right', t => {
+  t.plan(2);
+  const motorSpeeds = diffSteer(...INPUTS.FWD_RIGHT);
+  t.is(motorSpeeds[0], 255);
+  t.is(motorSpeeds[1], -6.000150000000013);
+});
+
+test('Reverse left', t => {
+  t.plan(2);
+  const motorSpeeds = diffSteer(...INPUTS.REV_LEFT);
+  t.is(motorSpeeds[0], -105.88978213646999);
+  t.is(motorSpeeds[1], -196.940063931765);
+});

test/inputs.js

@@ -0,0 +1,8 @@
+module.exports = {
+  FULL_FWD: [0, -1],
+  FULL_RIGHT: [1, 0],
+  FULL_LEFT: [-1, 0],
+  FULL_REV: [0, 1],
+  FWD_RIGHT: [0.764706, -0.741176],
+  REV_LEFT: [-0.726881, 0.686763]
+};

test/motor_control_test.js

@@ -0,0 +1,82 @@
+import INPUTS from './inputs';
+import steerMotor from '../motor_control';
+import sinon from 'sinon';
+import test from 'ava';
+
+test.beforeEach(t => {
+  t.context.leftMotor = {
+    fwd: sinon.stub(),
+    rev: sinon.stub()
+  };
+  t.context.rightMotor = {
+    fwd: sinon.stub(),
+    rev: sinon.stub()
+  };
+  t.context.wheels = [t.context.leftMotor, t.context.rightMotor];
+});
+
+test('Full forward', t => {
+  const motorCommands = steerMotor(t.context.wheels, ...INPUTS.FULL_FWD);
+  t.plan(6);
+  t.is(motorCommands[0].direction, 'fwd');
+  t.is(motorCommands[0].speed, 255);
+  t.true(t.context.leftMotor.fwd.calledWith(255));
+  t.is(motorCommands[1].direction, 'fwd');
+  t.is(motorCommands[1].speed, 255);
+  t.true(t.context.rightMotor.fwd.calledWith(255));
+});
+
+test('Full reverse', t => {
+  const motorCommands = steerMotor(t.context.wheels, ...INPUTS.FULL_REV);
+  t.plan(6);
+  t.is(motorCommands[0].direction, 'rev');
+  t.is(motorCommands[0].speed, 255);
+  t.true(t.context.leftMotor.rev.calledWith(255));
+  t.is(motorCommands[1].direction, 'rev');
+  t.is(motorCommands[1].speed, 255);
+  t.true(t.context.rightMotor.rev.calledWith(255));
+});
+
+test('Full right', t => {
+  const motorCommands = steerMotor(t.context.wheels, ...INPUTS.FULL_RIGHT);
+  t.plan(6);
+  t.is(motorCommands[0].direction, 'fwd');
+  t.is(motorCommands[0].speed, 255);
+  t.true(t.context.leftMotor.fwd.calledWith(255));
+  t.is(motorCommands[1].direction, 'rev');
+  t.is(motorCommands[1].speed, 255);
+  t.true(t.context.rightMotor.rev.calledWith(255));
+});
+
+test('Full left', t => {
+  const motorCommands = steerMotor(t.context.wheels, ...INPUTS.FULL_LEFT);
+  t.plan(6);
+  t.is(motorCommands[0].direction, 'rev');
+  t.is(motorCommands[0].speed, 255);
+  t.true(t.context.leftMotor.rev.calledWith(255));
+  t.is(motorCommands[1].direction, 'fwd');
+  t.is(motorCommands[1].speed, 255);
+  t.true(t.context.rightMotor.fwd.calledWith(255));
+});
+
+test('Forward right', t => {
+  const motorCommands = steerMotor(t.context.wheels, ...INPUTS.FWD_RIGHT);
+  t.plan(6);
+  t.is(motorCommands[0].direction, 'fwd');
+  t.is(motorCommands[0].speed, 255);
+  t.true(t.context.leftMotor.fwd.calledWith(255));
+  t.is(motorCommands[1].direction, 'rev');
+  t.is(motorCommands[1].speed, 6.000150000000013);
+  t.true(t.context.rightMotor.rev.calledWith(6.000150000000013));
+});
+
+test('Reverse left', t => {
+  const motorCommands = steerMotor(t.context.wheels, ...INPUTS.REV_LEFT);
+  t.plan(6);
+  t.is(motorCommands[0].direction, 'rev');
+  t.is(motorCommands[0].speed, 105.88978213646999);
+  t.true(t.context.leftMotor.rev.calledWith(105.88978213646999));
+  t.is(motorCommands[1].direction, 'rev');
+  t.is(motorCommands[1].speed, 196.940063931765);
+  t.true(t.context.rightMotor.rev.calledWith(196.940063931765));
+});