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Raised current limit from 10A to 15A for regen test. Previously, a motor overcurrent error was triggered ~50% of the time during the braking test.

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PAJohnson
2020-06-23 00:34:33 +01:00
parent 52b805b2ee
commit cc87e4e6a8
1 changed files with 5 additions and 3 deletions
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tools/odrive/tests/closed_loop_test.py
+5 -3
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@@ -172,15 +172,17 @@ class TestRegenProtection(TestClosedLoopControlBase):
def run_test(self, axis_ctx: ODriveAxisComponent, motor_ctx: MotorComponent, enc_ctx: EncoderComponent, logger: Logger):
with self.prepare(axis_ctx, motor_ctx, enc_ctx, logger):
nominal_rps = 6.0
nominal_rps = 10.0
nominal_vel = float(enc_ctx.yaml['cpr']) * nominal_rps
max_current = 15.0
# Accept a bit of noise on Ibus
axis_ctx.parent.handle.config.dc_max_negative_current = -0.1
axis_ctx.parent.handle.config.dc_max_negative_current = -0.2
logger.debug(f'Brake control test from {nominal_rps} rounds/s...')
axis_ctx.handle.controller.config.vel_limit = float(enc_ctx.yaml['cpr']) * 10.0 # max 10 rps
axis_ctx.handle.controller.config.vel_limit = float(enc_ctx.yaml['cpr']) * 15.0 # max 15 rps
axis_ctx.handle.motor.config.current_lim = max_current
axis_ctx.handle.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
axis_ctx.handle.controller.config.input_mode = INPUT_MODE_PASSTHROUGH