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fix HWIL tests

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This commit is contained in:
Samuel Sadok
2020-06-30 15:18:35 +02:00
parent ea99feaeb9
commit b794178f0e
2 changed files with 5 additions and 4 deletions
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tools/odrive/tests/closed_loop_test.py
+3 -2
View File
@@ -177,7 +177,7 @@ class TestRegenProtection(TestClosedLoopControlBase):
max_current = 15.0
# Accept a bit of noise on Ibus
axis_ctx.parent.handle.config.dc_max_negative_current = -0.2
axis_ctx.parent.handle.config.dc_max_negative_current = -0.5
logger.debug(f'Brake control test from {nominal_rps} rounds/s...')
@@ -227,6 +227,7 @@ class TestVelLimitInTorqueControl(TestClosedLoopControlBase):
axis_ctx.handle.controller.config.vel_gain /= 10 # reduce the slope to make it easier to see what's going on
vel_gain = axis_ctx.handle.controller.config.vel_gain
direction = axis_ctx.handle.motor.config.direction
logger.debug(f'vel gain is {vel_gain}')
axis_ctx.handle.controller.config.vel_limit = max_vel
@@ -237,7 +238,7 @@ class TestVelLimitInTorqueControl(TestClosedLoopControlBase):
# Returns the expected limited setpoint for a given velocity and current
def get_expected_setpoint(input_setpoint, velocity):
return clamp(clamp(input_setpoint / torque_constant, (velocity + max_vel) * -vel_gain / torque_constant, (velocity - max_vel) * -vel_gain / torque_constant), -max_current, max_current)
return clamp(clamp(input_setpoint / torque_constant, (velocity + max_vel) * -vel_gain / torque_constant, (velocity - max_vel) * -vel_gain / torque_constant), -max_current, max_current) * direction
def data_getter():
# sample velocity twice to avoid systematic bias
tools/odrive/tests/uart_ascii_test.py
+2 -2
View File
@@ -105,7 +105,7 @@ class TestUartAscii():
ser.write(b'c 0 12.5\n')
test_assert_eq(ser.readline(), b'')
test_assert_eq(odrive.handle.axis0.controller.input_torque, 12.5, accuracy=0.001)
test_assert_eq(odrive.handle.axis0.controller.config.control_mode, CONTROL_MODE_CURRENT_CONTROL)
test_assert_eq(odrive.handle.axis0.controller.config.control_mode, CONTROL_MODE_TORQUE_CONTROL)
odrive.handle.axis0.controller.input_vel = 0
odrive.handle.axis0.controller.input_torque = 0
@@ -132,7 +132,7 @@ class TestUartAscii():
test_assert_eq(ser.readline(), b'')
test_assert_eq(odrive.handle.axis0.controller.input_pos, 123.4, accuracy=0.001)
test_assert_eq(odrive.handle.axis0.controller.config.vel_limit, 567.8, accuracy=0.001)
test_assert_eq(odrive.handle.axis0.motor.config.current_lim, 12.5, accuracy=0.001)
test_assert_eq(odrive.handle.axis0.motor.config.torque_lim, 12.5, accuracy=0.001)
test_assert_eq(odrive.handle.axis0.controller.config.control_mode, CONTROL_MODE_POSITION_CONTROL)
ser.write(b'f 0\n')