revert proto changes to simplify PR

viamrobotics · May 29, 2024 · a592b2c · a592b2c
1 parent 30a4313
commit a592b2c
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Showing 2 changed files with 12 additions and 10 deletions.
diff --git a/tests/mocks/components.py b/tests/mocks/components.py
@@ -709,7 +709,7 @@ async def set_rpm(
         timeout: Optional[float] = None,
         **kwargs,
     ):
-        self.powered = rpm != 0
+        self.powered = True
         self.extra = extra
         self.timeout = timeout
 

diff --git a/tests/test_motor.py b/tests/test_motor.py
@@ -88,14 +88,12 @@ async def test_go_to(self, motor: MockMotor):
     async def test_set_rpm(self, motor: MockMotor):
         await motor.set_rpm(30, timeout=4.56)
         assert motor.timeout == loose_approx(4.56)
-        moving, pwr = await motor.is_powered()
+        moving = await motor.is_moving()
         assert moving is True
-        assert pwr > 0
 
-        await motor.set_rpm(-10)
-        moving, pwr = await motor.is_powered()
+        await motor.set_rpm(-30)
+        moving = await motor.is_moving()
         assert moving is True
-        assert pwr < 0
 
     @pytest.mark.asyncio
     async def test_reset_zero(self, motor: MockMotor):
@@ -226,12 +224,14 @@ async def test_set_rpm(self, motor: MockMotor, service: MotorRPCService):
 
             request = SetRPMRequest(name=motor.name, rpm=30)
             await client.SetRPM(request, timeout=4.56)
-            assert motor.power > 0
+            moving = await motor.is_moving()
+            assert moving is True
             assert motor.timeout == loose_approx(4.56)
 
             request = SetRPMRequest(name=motor.name, rpm=-10)
             await client.SetRPM(request)
-            assert motor.power < 0
+            moving = await motor.is_moving()
+            assert moving is True
 
     @pytest.mark.asyncio
     async def test_reset_zero(self, motor: MockMotor, service: MotorRPCService):
@@ -374,11 +374,13 @@ async def test_set_rpm(self, motor: MockMotor, service: MotorRPCService):
             client = MotorClient(motor.name, channel)
 
             await client.set_rpm(30, timeout=4.56)
-            assert motor.power > 0
+            moving = await motor.is_moving()
             assert motor.timeout == loose_approx(4.56)
+            assert moving is True
 
             await client.set_rpm(-10)
-            assert motor.power < 0
+            moving = await motor.is_moving()
+            assert moving is True
 
     @pytest.mark.asyncio
     async def test_reset_zero(self, motor: MockMotor, service: MotorRPCService):