From d0984f03de73a3f20d219e030fc71b5e0fa97cdd Mon Sep 17 00:00:00 2001 From: Samuel Sadok Date: Tue, 28 Jul 2020 17:15:55 +0200 Subject: [PATCH] HWIL tests: tolerate more sin/cos encoder noise --- tools/odrive/tests/encoder_test.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tools/odrive/tests/encoder_test.py b/tools/odrive/tests/encoder_test.py index dafb88dd..d24632dc 100644 --- a/tools/odrive/tests/encoder_test.py +++ b/tools/odrive/tests/encoder_test.py @@ -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)