From 193dddad00851f60a3a3e64e2f573f8a316c00f4 Mon Sep 17 00:00:00 2001 From: PAJohnson Date: Fri, 26 Jun 2020 18:37:22 +0100 Subject: [PATCH] Removed commented line in controller.hpp Added missing ')' to closed_loop_test.py Invalid enum definitions in uart_ascii_test.py fixed. --- Firmware/MotorControl/controller.hpp | 1 - tools/odrive/tests/closed_loop_test.py | 2 +- tools/odrive/tests/uart_ascii_test.py | 4 ++-- 3 files changed, 3 insertions(+), 4 deletions(-) diff --git a/Firmware/MotorControl/controller.hpp b/Firmware/MotorControl/controller.hpp index 2489acc9..743992c2 100644 --- a/Firmware/MotorControl/controller.hpp +++ b/Firmware/MotorControl/controller.hpp @@ -22,7 +22,6 @@ public: ControlMode control_mode = CONTROL_MODE_POSITION_CONTROL; //see: ControlMode_t InputMode input_mode = INPUT_MODE_PASSTHROUGH; //see: InputMode_t float pos_gain = 20.0f; // [(rad/s) / rad] - //float vel_gain = 0.2f / 10000.0f; // [Nm/(rad/s)] float vel_gain = 0.2f / 7.7f; // [Nm/(rad/s)] // float vel_gain = 0.2f / 200.0f, // [Nm/(rad/s)] float vel_integrator_gain = 0.4f / 7.7f; // [Nm/(rad/s * s)] diff --git a/tools/odrive/tests/closed_loop_test.py b/tools/odrive/tests/closed_loop_test.py index cabcc57c..1ac09df6 100644 --- a/tools/odrive/tests/closed_loop_test.py +++ b/tools/odrive/tests/closed_loop_test.py @@ -180,7 +180,7 @@ class TestRegenProtection(TestClosedLoopControlBase): # Accept a bit of noise on Ibus axis_ctx.parent.handle.config.dc_max_negative_current = -0.2 - logger.debug(f'Brake control test from {nominal_rps} rounds/s...' + logger.debug(f'Brake control test from {nominal_rps} rounds/s...') axis_ctx.handle.controller.config.vel_limit = 2.0 * pi * 15.0 # max 15 rps axis_ctx.handle.motor.config.current_lim = max_current diff --git a/tools/odrive/tests/uart_ascii_test.py b/tools/odrive/tests/uart_ascii_test.py index 6c650e28..ff5a41de 100644 --- a/tools/odrive/tests/uart_ascii_test.py +++ b/tools/odrive/tests/uart_ascii_test.py @@ -105,7 +105,7 @@ class TestUartAscii(): ser.write(b'c 0 12.5\n') test_assert_eq(ser.readline(), b'') test_assert_eq(odrive.handle.axis0.controller.input_torque, 12.5, accuracy=0.001) - test_assert_eq(odrive.handle.axis0.controller.config.control_mode, CONTROL_MODE_CURRENT_CONTROL) + test_assert_eq(odrive.handle.axis0.controller.config.control_mode, CONTROL_MODE_TORQUE_CONTROL) odrive.handle.axis0.controller.input_vel = 0 odrive.handle.axis0.controller.input_torque = 0 @@ -132,7 +132,7 @@ class TestUartAscii(): test_assert_eq(ser.readline(), b'') test_assert_eq(odrive.handle.axis0.controller.input_pos, 123.4, accuracy=0.001) test_assert_eq(odrive.handle.axis0.controller.config.vel_limit, 567.8, accuracy=0.001) - test_assert_eq(odrive.handle.axis0.motor.config.current_lim, 12.5, accuracy=0.001) + test_assert_eq(odrive.handle.axis0.motor.config.torque_lim, 12.5, accuracy=0.001) test_assert_eq(odrive.handle.axis0.controller.config.control_mode, CONTROL_MODE_POSITION_CONTROL) ser.write(b'f 0\n')