drone-micropython-raw 0.1.1

Bindings to MicroPython.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33

from utime import ticks_diff, ticks_add

MAX = ticks_add(0, -1)
# Should be done like this to avoid small int overflow
MODULO_HALF = MAX // 2 + 1

# Invariants:
# if ticks_diff(a, b) = c,
# then ticks_diff(b, a) = -c

assert ticks_diff(1, 0) == 1, ticks_diff(1, 0)
assert ticks_diff(0, 1) == -1

assert ticks_diff(0, MAX) == 1
assert ticks_diff(MAX, 0) == -1

assert ticks_diff(0, MAX - 1) == 2

# Maximum "positive" distance
assert ticks_diff(MODULO_HALF, 1) == MODULO_HALF - 1, ticks_diff(MODULO_HALF, 1)
# Step further, and it becomes a negative distance
assert ticks_diff(MODULO_HALF, 0) == -MODULO_HALF

# Offsetting that in either direction doesn't affect the result
off = 100
# Cheating and skipping to use ticks_add() when we know there's no wraparound
# Real apps should use always it.
assert ticks_diff(MODULO_HALF + off, 1 + off) == MODULO_HALF - 1
assert ticks_diff(MODULO_HALF + off, 0 + off) == -MODULO_HALF
assert ticks_diff(MODULO_HALF - off, ticks_add(1, -off)) == MODULO_HALF - 1
assert ticks_diff(MODULO_HALF - off, ticks_add(0, -off)) == -MODULO_HALF

print("OK")