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improve encoder tests

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This commit is contained in:
Samuel Sadok
2020-05-06 11:21:33 +02:00
parent eb944018e3
commit 35d1a24314
1 changed files with 15 additions and 10 deletions
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tools/odrive/tests/encoder_test.py
+15 -10
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@@ -43,22 +43,22 @@ class TestEncoderBase():
# encoder.shadow_count
slope, offset, fitted_curve = fit_line(data[:,(0,1)])
test_assert_eq(slope, true_cps, accuracy=0.005)
test_curve_fit(data[:,(0,1)], fitted_curve, max_mean_err = true_cpr * 0.01, inlier_range = true_cpr * 0.02, max_outliers = len(data[:,0]) * 0.02)
test_curve_fit(data[:,(0,1)], fitted_curve, max_mean_err = true_cpr * 0.02, inlier_range = true_cpr * 0.02, max_outliers = len(data[:,0]) * 0.02)
# encoder.count_in_cpr
slope, offset, fitted_curve = fit_sawtooth(data[:,(0,2)], true_cpr if reverse else 0, 0 if reverse else true_cpr)
test_assert_eq(slope, true_cps, accuracy=0.005)
test_curve_fit(data[:,(0,2)], fitted_curve, max_mean_err = true_cpr * 0.01, inlier_range = true_cpr * 0.02, max_outliers = len(data[:,0]) * 0.02)
test_curve_fit(data[:,(0,2)], fitted_curve, max_mean_err = true_cpr * 0.02, inlier_range = true_cpr * 0.02, max_outliers = len(data[:,0]) * 0.02)
# encoder.phase
slope, offset, fitted_curve = fit_sawtooth(data[:,(0,3)], pi if reverse else -pi, -pi if reverse else pi, sigma=5)
test_assert_eq(slope / 7, 2*pi*true_rps, accuracy=0.05)
test_curve_fit(data[:,(0,3)], fitted_curve, max_mean_err = true_cpr * 0.01, inlier_range = true_cpr * 0.02, max_outliers = len(data[:,0]) * 0.02)
test_curve_fit(data[:,(0,3)], fitted_curve, max_mean_err = true_cpr * 0.02, inlier_range = true_cpr * 0.02, max_outliers = len(data[:,0]) * 0.02)
# encoder.pos_estimate
slope, offset, fitted_curve = fit_line(data[:,(0,4)])
test_assert_eq(slope, true_cps, accuracy=0.005)
test_curve_fit(data[:,(0,4)], fitted_curve, max_mean_err = true_cpr * 0.01, inlier_range = true_cpr * 0.02, max_outliers = len(data[:,0]) * 0.02)
test_curve_fit(data[:,(0,4)], fitted_curve, max_mean_err = true_cpr * 0.02, inlier_range = true_cpr * 0.02, max_outliers = len(data[:,0]) * 0.02)
# encoder.pos_cpr
slope, offset, fitted_curve = fit_sawtooth(data[:,(0,5)], true_cpr if reverse else 0, 0 if reverse else true_cpr)
@@ -120,7 +120,7 @@ class TestIncrementalEncoder(TestEncoderBase):
yield (encoder, valid_combinations)
def run_test(self, enc: EncoderComponent, teensy: TeensyComponent, teensy_gpio_a: TeensyGpio, teensy_gpio_b: TeensyGpio, logger: Logger):
def run_test(self, enc: ODriveEncoderComponent, teensy: TeensyComponent, teensy_gpio_a: TeensyGpio, teensy_gpio_b: TeensyGpio, logger: Logger):
true_cps = 8192*-0.5 # counts per second generated by the virtual encoder
code = teensy_incremental_encoder_emulation_code.replace("{enc_a}", str(teensy_gpio_a.num)).replace("{enc_b}", str(teensy_gpio_b.num))
@@ -180,7 +180,7 @@ class TestSinCosEncoder(TestEncoderBase):
yield (odrive.encoders[0], valid_combinations)
def run_test(self, enc: EncoderComponent, teensy: TeensyComponent, teensy_gpio_sin: TeensyGpio, teensy_gpio_cos: TeensyGpio, logger: Logger):
def run_test(self, enc: ODriveEncoderComponent, teensy: TeensyComponent, teensy_gpio_sin: TeensyGpio, teensy_gpio_cos: TeensyGpio, logger: Logger):
code = teensy_sin_cos_encoder_emulation_code.replace("{enc_sin}", str(teensy_gpio_sin.num)).replace("{enc_cos}", str(teensy_gpio_cos.num))
teensy.compile_and_program(code)
@@ -247,7 +247,7 @@ class TestHallEffectEncoder(TestEncoderBase):
yield (encoder, valid_combinations)
def run_test(self, enc: EncoderComponent, teensy: TeensyComponent, teensy_gpio_a: TeensyGpio, teensy_gpio_b: TeensyGpio, teensy_gpio_c: TeensyGpio, logger: Logger):
def run_test(self, enc: ODriveEncoderComponent, teensy: TeensyComponent, teensy_gpio_a: TeensyGpio, teensy_gpio_b: TeensyGpio, teensy_gpio_c: TeensyGpio, logger: Logger):
true_cpr = 90
true_rps = -1.0
@@ -432,7 +432,7 @@ class TestSpiEncoder(TestEncoderBase):
yield (encoder, 7, valid_combinations)
def run_test(self, enc: EncoderComponent, odrive_ncs_gpio: int, teensy: TeensyComponent, teensy_gpio_sck: TeensyGpio, teensy_gpio_miso: TeensyGpio, teensy_gpio_mosi: TeensyGpio, teensy_gpio_ncs: TeensyGpio, teensy_gpio_reset: TeensyGpio, reset_gpio: LinuxGpioComponent, logger: Logger):
def run_test(self, enc: ODriveEncoderComponent, odrive_ncs_gpio: int, teensy: TeensyComponent, teensy_gpio_sck: TeensyGpio, teensy_gpio_miso: TeensyGpio, teensy_gpio_mosi: TeensyGpio, teensy_gpio_ncs: TeensyGpio, teensy_gpio_reset: TeensyGpio, reset_gpio: LinuxGpioComponent, logger: Logger):
true_cpr = 16384
true_rps = 1.0
@@ -452,6 +452,11 @@ class TestSpiEncoder(TestEncoderBase):
enc.handle.config.mode = self.mode
enc.handle.config.abs_spi_cs_gpio_pin = odrive_ncs_gpio
enc.handle.config.cpr = true_cpr
# Also put the other encoder into SPI mode to make it more interesting
other_enc = enc.parent.encoders[1 - enc.num]
other_enc.handle.config.mode = self.mode
other_enc.handle.config.abs_spi_cs_gpio_pin = odrive_ncs_gpio
other_enc.handle.config.cpr = true_cpr
enc.parent.save_config_and_reboot()
time.sleep(1.0)
@@ -499,8 +504,8 @@ class TestSpiEncoder(TestEncoderBase):
if __name__ == '__main__':
test_runner.run([
#TestIncrementalEncoder(),
#TestSinCosEncoder(),
TestIncrementalEncoder(),
TestSinCosEncoder(),
TestHallEffectEncoder(),
TestSpiEncoder(ENCODER_MODE_SPI_ABS_AMS),
TestSpiEncoder(ENCODER_MODE_SPI_ABS_CUI),