feat: add unit tests for TMC movement functionality

Author: Chr157i4n

.github/workflows/micropython_test.yml

@@ -17,21 +17,3 @@ jobs:
     - name: Test MicroPython Installation
       run: |
         micropython tests_micropython/test.py
-    # - name: Set up Python
-    #   with:
-    #     python-version: "3.13"
-    #   uses: actions/setup-python@v6
-    # - name: Install dependencies
-    #   run: |
-    #     python -m pip install --upgrade pip
-    #     pip install coverage
-    #     pip install gpiozero
-    #     pip install python-periphery
-    #     pip install RPi.GPIO
-    #     pip install Mock.GPIO
-    #     pip install pyserial
-    #     pip install spidev
-    #     pip install pyftdi
-    # - name: Run unittests
-    #   run: |
-    #     python -m coverage run -m unittest discover

tests_micropython/test.py

@@ -2,3 +2,49 @@
 
 print(sys.version)
 print(sys.implementation)
+
+
+import unittest
+from src.tmc_driver import (
+    Tmc2209,
+    TmcEnableControlPin,
+    TmcMotionControlStepDir,
+    MovementAbsRel,
+)
+
+
+class TestTMCMove(unittest.TestCase):
+    """TestTMCMove"""
+
+    def setUp(self):
+        """setUp"""
+        self.tmc = Tmc2209(TmcEnableControlPin(1), TmcMotionControlStepDir(2, 3))
+
+        # these values are normally set by reading the driver
+        self.tmc.mres = 2
+
+        self.tmc.acceleration_fullstep = 100000
+        self.tmc.max_speed_fullstep = 10000
+        self.tmc.movement_abs_rel = MovementAbsRel.ABSOLUTE
+
+    def tearDown(self):
+        """tearDown"""
+
+    def test_run_to_position_steps(self):
+        """test_run_to_position_steps"""
+
+        self.tmc.run_to_position_steps(400, MovementAbsRel.RELATIVE)
+        pos = self.tmc.tmc_mc.current_pos
+        self.assertEqual(pos, 400, f"actual position: {pos}, expected position: 400")
+
+        self.tmc.run_to_position_steps(-200, MovementAbsRel.RELATIVE)
+        pos = self.tmc.tmc_mc.current_pos
+        self.assertEqual(pos, 200, f"actual position: {pos}, expected position: 200")
+
+        self.tmc.run_to_position_steps(400)
+        pos = self.tmc.tmc_mc.current_pos
+        self.assertEqual(pos, 400, f"actual position: {pos}, expected position: 400")
+
+
+if __name__ == "__main__":
+    unittest.main()