From a9b234979f6393be0e486d3e6eb0cd9441f8788c Mon Sep 17 00:00:00 2001 From: Samuel Sadok Date: Fri, 8 Jan 2021 11:28:38 +0100 Subject: [PATCH] fix calibration and sensor tests --- tools/odrive/tests/calibration_test.py | 7 ++++--- tools/test-rig-ss3.yaml | 2 +- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/tools/odrive/tests/calibration_test.py b/tools/odrive/tests/calibration_test.py index 026d41a6..eace8c55 100644 --- a/tools/odrive/tests/calibration_test.py +++ b/tools/odrive/tests/calibration_test.py @@ -25,9 +25,10 @@ class TestMotorCalibration(): def run_test(self, axis_ctx: ODriveAxisComponent, motor_ctx: MotorComponent, logger: Logger): # reset old calibration values - if axis_ctx.handle.encoder.config.mode != ENCODER_MODE_INCREMENTAL: - axis_ctx.handle.encoder.config.mode = ENCODER_MODE_INCREMENTAL - axis_ctx.parent.save_config_and_reboot() + axis_ctx.parent.erase_config_and_reboot() + #if axis_ctx.handle.encoder.config.mode != ENCODER_MODE_INCREMENTAL: + # axis_ctx.handle.encoder.config.mode = ENCODER_MODE_INCREMENTAL + # axis_ctx.parent.save_config_and_reboot() axis_ctx.handle.motor.config.phase_resistance = 0.0 axis_ctx.handle.motor.config.phase_inductance = 0.0 diff --git a/tools/test-rig-ss3.yaml b/tools/test-rig-ss3.yaml index a86c5463..8329abda 100644 --- a/tools/test-rig-ss3.yaml +++ b/tools/test-rig-ss3.yaml @@ -30,7 +30,7 @@ components: brake-resistance: 2.0 usb: auto can: main_canbus - vbus-voltage: 24 # [V] + vbus-voltage: 20.5 # [V] max-brake-power: 150 # [W] encoder0: virtual_encoder0 encoder1: virtual_encoder1