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Modified tolerances to work on different test rig

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This commit is contained in:
PAJohnson
2020-06-22 23:30:56 +01:00
parent 4100fff46a
commit 2937e5bd27
1 changed files with 2 additions and 4 deletions
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tools/odrive/tests/closed_loop_test.py
+2 -4
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@@ -176,7 +176,7 @@ class TestRegenProtection(TestClosedLoopControlBase):
nominal_vel = float(enc_ctx.yaml['cpr']) * nominal_rps
# Accept a bit of noise on Ibus
axis_ctx.parent.handle.config.dc_max_negative_current = -0.2
axis_ctx.parent.handle.config.dc_max_negative_current = -0.1
logger.debug(f'Brake control test from {nominal_rps} rounds/s...')
@@ -185,7 +185,6 @@ class TestRegenProtection(TestClosedLoopControlBase):
axis_ctx.handle.controller.config.input_mode = INPUT_MODE_PASSTHROUGH
request_state(axis_ctx, AXIS_STATE_CLOSED_LOOP_CONTROL)
# accelerate...
axis_ctx.handle.controller.input_vel = nominal_vel
time.sleep(1.0)
@@ -198,7 +197,6 @@ class TestRegenProtection(TestClosedLoopControlBase):
# once more, but this time without brake resistor
axis_ctx.parent.handle.config.brake_resistance = 0
# accelerate...
axis_ctx.handle.controller.input_vel = nominal_vel
time.sleep(1.0)
@@ -222,7 +220,7 @@ class TestVelLimitInCurrentControl(TestClosedLoopControlBase):
max_rps = 20.0
max_vel = float(enc_ctx.yaml['cpr']) * max_rps
absolute_max_vel = max_vel * 1.2
max_current = 3.0
max_current = 10.0
axis_ctx.handle.controller.config.vel_gain /= 10 # reduce the slope to make it easier to see what's going on
vel_gain = axis_ctx.handle.controller.config.vel_gain