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HWIL tests: tolerate more sin/cos encoder noise

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This commit is contained in:
Samuel Sadok
2020-07-28 17:15:55 +02:00
parent 24cbfc8dc3
commit d0984f03de
1 changed files with 3 additions and 3 deletions
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tools/odrive/tests/encoder_test.py
+3 -3
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@@ -23,7 +23,7 @@ class TestEncoderBase():
or a constant.
"""
def run_generic_encoder_test(self, encoder, true_cpr, true_rps):
def run_generic_encoder_test(self, encoder, true_cpr, true_rps, noise=1):
encoder.config.cpr = true_cpr
true_cps = true_cpr * true_rps
@@ -69,7 +69,7 @@ class TestEncoderBase():
slope, offset, fitted_curve = fit_line(data[:,(0,6)])
test_assert_eq(slope, 0.0, range = true_cpr * abs(true_rps) * 0.01)
test_assert_eq(offset, true_cpr * true_rps, accuracy = 0.02)
test_curve_fit(data[:,(0,6)], fitted_curve, max_mean_err = true_cpr * 0.05, inlier_range = true_cpr * 0.05, max_outliers = len(data[:,0]) * 0.05)
test_curve_fit(data[:,(0,6)], fitted_curve, max_mean_err = true_cpr * 0.05, inlier_range = true_cpr * 0.05 * noise, max_outliers = len(data[:,0]) * 0.05)
@@ -193,7 +193,7 @@ class TestSinCosEncoder(TestEncoderBase):
enc.handle.config.bandwidth = 100
self.run_generic_encoder_test(enc.handle, 6283, 1.0)
self.run_generic_encoder_test(enc.handle, 6283, 1.0, 2.0)