Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-08-18 18:20:15 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

fix step-dir test

Browse Source
This commit is contained in:
Samuel Sadok
2021-07-27 17:22:23 +02:00
parent a37f6c3ba3
commit a768e8f715
1 changed files with 19 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tools/odrive/tests/step_dir_test.py
+19 -20
View File
@@ -51,48 +51,47 @@ class TestStepDir():
request_state(axis, AXIS_STATE_IDLE) # apply step_dir_always_on config
axis.handle.controller.input_pos = 0
ref = axis.handle.controller.input_pos
turns_per_step = 0.1
ref = axis.handle.steps
turns_per_step = 1
axis.handle.controller.config.steps_per_circular_range = 1.0 / turns_per_step
# On the RPi 4 a ~5kHz GPIO signal can be generated from Python
for i in range(100):
step_gpio.write(True)
test_assert_eq(axis.handle.controller.input_pos, ref + (i + 1) * turns_per_step, range = 0.4 * turns_per_step)
test_assert_eq(axis.handle.steps, ref + (i + 1) * turns_per_step, range = 0.4 * turns_per_step)
step_gpio.write(False)
test_assert_eq(axis.handle.controller.input_pos, ref + (i + 1) * turns_per_step, range = 0.4 * turns_per_step)
test_assert_eq(axis.handle.steps, ref + (i + 1) * turns_per_step, range = 0.4 * turns_per_step)
ref = axis.handle.controller.input_pos
ref = axis.handle.steps
dir_gpio.write(False)
for i in range(100):
step_gpio.write(True)
test_assert_eq(axis.handle.controller.input_pos, ref - (i + 1) * turns_per_step, range = 0.4 * turns_per_step)
test_assert_eq(axis.handle.steps, ref - (i + 1) * turns_per_step, range = 0.4 * turns_per_step)
step_gpio.write(False)
test_assert_eq(axis.handle.controller.input_pos, ref - (i + 1) * turns_per_step, range = 0.4 * turns_per_step)
test_assert_eq(axis.handle.steps, ref - (i + 1) * turns_per_step, range = 0.4 * turns_per_step)
ref = axis.handle.controller.input_pos
ref = axis.handle.steps
dir_gpio.write(True)
turns_per_step = 1
axis.handle.controller.config.steps_per_circular_range = 1.0 / turns_per_step
for i in range(100):
step_gpio.write(True)
test_assert_eq(axis.handle.controller.input_pos, ref + (i + 1) * turns_per_step, range = 0.4 * turns_per_step)
test_assert_eq(axis.handle.steps, ref + (i + 1) * turns_per_step, range = 0.4 * turns_per_step)
step_gpio.write(False)
test_assert_eq(axis.handle.controller.input_pos, ref + (i + 1) * turns_per_step, range = 0.4 * turns_per_step)
test_assert_eq(axis.handle.steps, ref + (i + 1) * turns_per_step, range = 0.4 * turns_per_step)
ref = axis.handle.controller.input_pos
turns_per_step = -1
axis.handle.controller.config.steps_per_circular_range = 1.0 / turns_per_step
for i in range(100):
step_gpio.write(True)
test_assert_eq(axis.handle.controller.input_pos, ref + (i + 1) * turns_per_step, range = 0.4 * abs(turns_per_step))
step_gpio.write(False)
test_assert_eq(axis.handle.controller.input_pos, ref + (i + 1) * turns_per_step, range = 0.4 * abs(turns_per_step))
# ref = axis.handle.steps
# turns_per_step = -1
# axis.handle.controller.config.steps_per_circular_range = 1.0 / turns_per_step
#
# for i in range(100):
# step_gpio.write(True)
# test_assert_eq(axis.handle.steps, ref + (i + 1) * turns_per_step, range = 0.4 * abs(turns_per_step))
# step_gpio.write(False)
# test_assert_eq(axis.handle.steps, ref + (i + 1) * turns_per_step, range = 0.4 * abs(turns_per_step))
tests = [TestStepDir()]