[UNTESTED] start implementing sensorless test

Firmware/MotorControl/controller.hpp

@@ -18,7 +18,7 @@ struct ControllerConfig_t {
     Motor_control_mode_t control_mode = CTRL_MODE_POSITION_CONTROL;  //see: Motor_control_mode_t
     float pos_gain = 20.0f;  // [(counts/s) / counts]
     float vel_gain = 5.0f / 10000.0f;  // [A/(counts/s)]
-    // float vel_gain = 15.0f / 200.0f, // [A/(rad/s)] <sensorless example>
+    // float vel_gain = 5.0f / 200.0f, // [A/(rad/s)] <sensorless example>
     float vel_integrator_gain = 10.0f / 10000.0f;  // [A/(counts/s * s)]
     float vel_limit = 20000.0f;           // [counts/s]
 };

tools/odrive/tests.py

@@ -164,6 +164,9 @@ def get_max_rpm(axis_ctx: AxisTestContext):
     rated_rpm = min(base_speed_rpm, axis_ctx.yaml['encoder-max-rpm'])
     return rated_rpm
 
+def get_sensorless_vel(axis_ctx: AxisTestContext, vel):
+    return vel * 2 * math.pi / axis_ctx.yaml['encoder-cpr'] * axis_ctx.yaml['motor-pole-pairs']
+
 class ODriveTest(ABC):
     """
     Tests inheriting from this class get full ownership of the ODrive
@@ -748,3 +751,17 @@ class TestAsciiProtocol(ODriveTest):
         odrv_ctx.handle.axis1.controller.set_pos_setpoint(0, 0, 0)
         request_state(odrv_ctx.axes[0], AXIS_STATE_IDLE)
         request_state(odrv_ctx.axes[1], AXIS_STATE_IDLE)
+
+
+class TestSensorlessControl(AxisTest):
+    def run_test(self, axis_ctx: AxisTestContext, logger):
+        odrv0.axis0.controller.config.vel_gain = 5 / get_sensorless_vel(axis_ctx, 10000)
+        odrv0.axis0.controller.config.vel_integrator_gain = 10 / get_sensorless_vel(axis_ctx, 10000)
+        target_vel = get_sensorless_vel(axis_ctx, 20000)
+        axis_ctx.handle.controller.set_vel_setpoint(target_vel, 0)
+        request_state(axis_ctx, AXIS_STATE_SENSORLESS_CONTROL)
+        # wait for spinup
+        time.sleep(2)
+        test_assert_eq(odrv0.axis0.encoder.pll_vel, target_vel, range=2000)
+
+        request_state(axis_ctx, AXIS_STATE_IDLE)

tools/run_tests.py

@@ -88,6 +88,10 @@ else:
     all_tests.append(TestEncoderOffsetCalibration(pass_if_ready=True))
 
 all_tests.append(TestAsciiProtocol())
+all_tests.append(TestSensorlessControl())
+
+#all_tests.append(TestStepDirInput())
+#all_tests.append(TestPWMInput())
 
 if test_rig_yaml['type'] == 'parallel':
     #all_tests.append(TestHighVelocity())