add loopback test group

tools/odrive/tests.py

@@ -538,6 +538,9 @@ class TestHighVelocityInViscousFluid(DualAxisTest):
         request_state(load_ctx, AXIS_STATE_IDLE)
         request_state(driver_ctx, AXIS_STATE_IDLE)
 
+# class TestSelfLoadedPosVelDistribution(DualAxisTest):
+
+
 class TestVelCtrlVsPosCtrl(DualAxisTest):
     """
     Uses one ODrive as a load operating in velocity control mode.

tools/run_tests.py

@@ -25,12 +25,14 @@ parser.add_argument("--ignore", metavar='DEVICE', action='store', nargs='+',
                     help="Ignore one or more ODrives or axes")
 parser.add_argument("--test-rig-yaml", type=argparse.FileType('r'),
                     help="test rig YAML file")
-parser.set_defaults(test_rig_yaml=script_path + '/test-rig-parallel.yaml')
+# parser.set_defaults(test_rig_yaml=script_path + '/test-rig-parallel.yaml')
 parser.set_defaults(ignore=[])
 args = parser.parse_args()
+test_rig_yaml = yaml.load(args.test_rig_yaml)
 
 # TODO: add --only option
 
+
 all_tests = []
 if not args.skip_boring_tests:
     all_tests.append(TestFlashAndErase())
@@ -47,19 +49,21 @@ else:
     all_tests.append(TestDiscoverAndGotoIdle())
     all_tests.append(TestEncoderOffsetCalibration(pass_if_ready=True))
 
-#all_tests.append(TestHighVelocity())
-all_tests.append(TestHighVelocityInViscousFluid(load_current=35, driver_current=45))
-# all_tests.append(TestVelCtrlVsPosCtrl())
-# TODO: test step/dir
-# TODO: test sensorless
-# TODO: test ASCII protocol
-# TODO: test protocol over UART
+if 'test-rig-parallel.yaml' in test_rig_yaml:
+    #all_tests.append(TestHighVelocity())
+    all_tests.append(TestHighVelocityInViscousFluid(load_current=35, driver_current=45))
+    # all_tests.append(TestVelCtrlVsPosCtrl())
+    # TODO: test step/dir
+    # TODO: test sensorless
+    # TODO: test ASCII protocol
+    # TODO: test protocol over UART
+elif 'test-rig-loopback.yaml' in test_rig_yaml:
+    pass
+
 
 print(str(args.ignore))
 logger = Logger()
 
-
-test_rig_yaml = yaml.load(args.test_rig_yaml)
 os.chdir(script_path + '/../Firmware')
 
 # Build a dictionary of odrive test contexts by name

tools/test-rig-loopback.yaml

@@ -0,0 +1,36 @@
+
+odrives:
+  - name: odrive-48V
+    board-version: v3.5-48V
+    serial-number: "3660335E3037"
+    brake-resistance: 0.47
+    uart: /dev/serial/by-id/[not-yet-used]
+    usb: auto
+    programmer: '533f7506493f49514454193f'
+    vbus-voltage: 24 # [V]
+    max-brake-power: 150 # [W]
+    axes:
+      - name: 'M0'
+        motor-phase-resistance: 0.0245
+        motor-phase-inductance: 2.03e-05
+        motor-pole-pairs: 7
+        motor-direction: 1
+        motor-kv: 190
+        motor-max-current: 70
+        motor-max-voltage: 40
+        encoder-cpr: 8192
+        encoder-max-rpm: 7000
+      - name: 'M1'
+        motor-phase-resistance: 0.0245
+        motor-phase-inductance: 2.03e-05
+        motor-pole-pairs: 7
+        motor-direction: -1
+        motor-kv: 190
+        motor-max-current: 70
+        motor-max-voltage: 40
+        encoder-cpr: 8192
+        encoder-max-rpm: 7000
+
+# Mechanical couplings
+couplings:
+  - [ odrive-48V.M0, odrive-48V.M1 ]