Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-08-20 22:14:34 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

fix various test suite issues

Browse Source
This commit is contained in:
Samuel Sadok
2020-06-04 13:05:02 +02:00
parent 6047c72014
commit 623e496719
4 changed files with 6 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tools/odrive/tests/analog_input_test.py
+1 -1
View File
@@ -103,7 +103,7 @@ class TestAnalogInput():
# Expect mean error to be at most 2% (of the full scale).
# Expect there to be less than 2% outliers, where an outlier is anything that is more than 5% (of full scale) away from the expected value.
full_range = abs(max_val - min_val)
slope, offset, fitted_curve = fit_sawtooth(data, min_val, max_val)
slope, offset, fitted_curve = fit_sawtooth(data, min_val, max_val, sigma=30)
test_assert_eq(slope, (max_val - min_val) / period, accuracy=0.005)
test_curve_fit(data, fitted_curve, max_mean_err = full_range * 0.02, inlier_range = full_range * 0.05, max_outliers = len(data[:,0]) * 0.02)
tools/odrive/tests/can_test.py
+1
View File
@@ -112,6 +112,7 @@ class TestSimpleCAN():
odrive.unuse_gpios()
axis = odrive.handle.axis0
axis.config.enable_watchdog = False
axis.clear_errors()
axis.config.can_node_id = node_id
axis.config.can_node_id_extended = extended_id
tools/odrive/tests/encoder_test.py
+1 -1
View File
@@ -69,7 +69,7 @@ class TestEncoderBase():
slope, offset, fitted_curve = fit_line(data[:,(0,6)])
test_assert_eq(slope, 0.0, range = true_cpr * abs(true_rps) * 0.01)
test_assert_eq(offset, true_cpr * true_rps, accuracy = 0.02)
test_curve_fit(data[:,(0,6)], fitted_curve, max_mean_err = true_cpr * 0.05, inlier_range = true_cpr * 0.05, max_outliers = len(data[:,0]) * 0.02)
test_curve_fit(data[:,(0,6)], fitted_curve, max_mean_err = true_cpr * 0.05, inlier_range = true_cpr * 0.05, max_outliers = len(data[:,0]) * 0.05)
tools/odrive/tests/test_runner.py
+3 -3
View File
@@ -781,12 +781,12 @@ if args.setup_host:
if not os.path.isdir("/sys/class/gpio/gpio{}".format(num)):
with open("/sys/class/gpio/export", "w") as fp:
fp.write(str(num))
os.chmod("/sys/class/gpio/gpio{}/value".format(num), stat.S_IROTH | stat.S_IWOTH)
os.chmod("/sys/class/gpio/gpio{}/direction".format(num), stat.S_IROTH | stat.S_IWOTH)
os.chmod("/sys/class/gpio/gpio{}/value".format(num), stat.S_IRWXU | stat.S_IRWXG | stat.S_IRWXO)
os.chmod("/sys/class/gpio/gpio{}/direction".format(num), stat.S_IRWXU | stat.S_IRWXG | stat.S_IRWXO)
for port in testrig.get_components(SerialPortComponent):
logger.debug('changing permissions on ' + port.yaml['port'] + '...')
os.chmod(port.yaml['port'], stat.S_IROTH | stat.S_IWOTH)
os.chmod(port.yaml['port'], stat.S_IRWXU | stat.S_IRWXG | stat.S_IRWXO)
if len(list(testrig.get_components(TeensyComponent))):
# This breaks the annoying teensy loader that shows up on every compile