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Modified tests for counts->rad conversion, all passing on my test rig (PJ)

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PAJohnson
2020-06-25 23:06:28 +01:00
parent 9faf46ad47
commit f4a9636df4
3 changed files with 32 additions and 30 deletions
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tools/odrive/tests/can_test.py
+2 -1
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@@ -5,6 +5,7 @@ import struct
import can
import asyncio
import time
import math
from fibre.utils import Logger
from odrive.enums import *
@@ -141,7 +142,7 @@ class TestSimpleCAN():
test_assert_eq(axis.error, AXIS_ERROR_NONE)
axis.encoder.set_linear_count(123)
test_assert_eq(my_req('get_encoder_estimates')['encoder_pos_estimate'], 123.0, accuracy=0.01)
test_assert_eq(my_req('get_encoder_estimates')['encoder_pos_estimate'], 123.0 * 2.0 * math.pi / axis.encoder.config.cpr, accuracy=0.01)
test_assert_eq(my_req('get_encoder_count')['encoder_shadow_count'], 123.0, accuracy=0.01)
my_cmd('clear_errors')
tools/odrive/tests/closed_loop_test.py
+24 -23
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@@ -77,7 +77,7 @@ class TestClosedLoopControl(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 = 1.0
nominal_vel = float(enc_ctx.yaml['cpr']) * nominal_rps
nominal_vel = 2.0 * pi * nominal_rps
logger.debug(f'Testing closed loop velocity control at {nominal_rps} rounds/s...')
axis_ctx.handle.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
@@ -87,7 +87,7 @@ class TestClosedLoopControl(TestClosedLoopControlBase):
request_state(axis_ctx, AXIS_STATE_CLOSED_LOOP_CONTROL)
axis_ctx.handle.controller.input_vel = nominal_vel
data = record_log(lambda: [axis_ctx.handle.encoder.vel_estimate, axis_ctx.handle.encoder.pos_estimate], duration=5.0)
data = record_log(lambda: [axis_ctx.handle.encoder.vel_est_rad, axis_ctx.handle.encoder.pos_est_rad], duration=5.0)
test_assert_eq(axis_ctx.handle.current_state, AXIS_STATE_CLOSED_LOOP_CONTROL)
test_assert_no_error(axis_ctx)
@@ -109,29 +109,30 @@ class TestClosedLoopControl(TestClosedLoopControlBase):
axis_ctx.handle.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
axis_ctx.handle.controller.input_pos = 0
axis_ctx.handle.controller.config.vel_limit = float(enc_ctx.yaml['cpr']) * 5.0 # max 5 rps
axis_ctx.handle.controller.config.vel_limit = 2.0 * pi * 5.0 # max 5 rps
axis_ctx.handle.encoder.set_linear_count(0)
request_state(axis_ctx, AXIS_STATE_CLOSED_LOOP_CONTROL)
# Test small position changes
axis_ctx.handle.controller.input_pos = 5000
test_pos = 5000 / float(enc_ctx.yaml['cpr']) * 2.0 * pi
axis_ctx.handle.controller.input_pos = test_pos
time.sleep(0.3)
test_assert_no_error(axis_ctx)
test_assert_eq(axis_ctx.handle.encoder.pos_estimate, 5000, range=2000) # large range needed because of cogging torque
axis_ctx.handle.controller.input_pos = -5000
test_assert_eq(axis_ctx.handle.encoder.pos_est_rad, test_pos, range=0.4*test_pos) # large range needed because of cogging torque
axis_ctx.handle.controller.input_pos = -1 * test_pos
time.sleep(0.3)
test_assert_no_error(axis_ctx)
test_assert_eq(axis_ctx.handle.encoder.pos_estimate, -5000, range=2000)
test_assert_eq(axis_ctx.handle.encoder.pos_est_rad, -1 * test_pos, range=0.4*test_pos)
axis_ctx.handle.controller.input_pos = 0
time.sleep(0.3)
nominal_vel = float(enc_ctx.yaml['cpr']) * 5.0
nominal_vel = 2 * pi * 5.0
axis_ctx.handle.controller.input_pos = nominal_vel * 2.0 # 10 turns (takes 2 seconds)
# Test large position change with bounded velocity
data = record_log(lambda: [axis_ctx.handle.encoder.vel_estimate, axis_ctx.handle.encoder.pos_estimate], duration=4.0)
data = record_log(lambda: [axis_ctx.handle.encoder.vel_est_rad, axis_ctx.handle.encoder.pos_est_rad], duration=4.0)
test_assert_eq(axis_ctx.handle.current_state, AXIS_STATE_CLOSED_LOOP_CONTROL)
test_assert_no_error(axis_ctx)
@@ -140,24 +141,24 @@ class TestClosedLoopControl(TestClosedLoopControlBase):
data_motion = data[data[:,0] < 1.9]
data_still = data[data[:,0] > 2.1]
# encoder.vel_estimate
# encoder.vel_est_rad
slope, offset, fitted_curve = fit_line(data_motion[:,(0,1)])
test_assert_eq(slope, 0.0, range = nominal_vel * 0.05)
test_assert_eq(offset, nominal_vel, accuracy = 0.05)
test_curve_fit(data_motion[:,(0,1)], fitted_curve, max_mean_err = nominal_vel * 0.05, inlier_range = nominal_vel * 0.1, max_outliers = len(data[:,0]) * 0.01)
# encoder.pos_estimate
# encoder.pos_est_rad
slope, offset, fitted_curve = fit_line(data_motion[:,(0,2)])
test_assert_eq(slope, nominal_vel, accuracy = 0.01)
test_curve_fit(data_motion[:,(0,2)], fitted_curve, max_mean_err = nominal_vel * 0.01, inlier_range = nominal_vel * 0.1, max_outliers = len(data[:,0]) * 0.01)
# encoder.vel_estimate
# encoder.vel_est_rad
slope, offset, fitted_curve = fit_line(data_still[:,(0,1)])
test_assert_eq(slope, 0.0, range = nominal_vel * 0.05)
test_assert_eq(offset, 0.0, range = nominal_vel * 0.05)
test_curve_fit(data_still[:,(0,1)], fitted_curve, max_mean_err = nominal_vel * 0.05, inlier_range = nominal_vel * 0.1, max_outliers = len(data[:,0]) * 0.01)
# encoder.pos_estimate
# encoder.pos_est_rad
slope, offset, fitted_curve = fit_line(data_still[:,(0,2)])
test_assert_eq(slope, 0.0, range = nominal_vel * 0.05)
test_assert_eq(offset, nominal_vel*2, range = nominal_vel * 0.02)
@@ -173,7 +174,7 @@ 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 = 10.0
nominal_vel = float(enc_ctx.yaml['cpr']) * nominal_rps
nominal_vel = 2.0 * pi * nominal_rps
max_current = 15.0
# Accept a bit of noise on Ibus
@@ -181,7 +182,7 @@ class TestRegenProtection(TestClosedLoopControlBase):
logger.debug(f'Brake control test from {nominal_rps} rounds/s...')
axis_ctx.handle.controller.config.vel_limit = float(enc_ctx.yaml['cpr']) * 15.0 # max 15 rps
axis_ctx.handle.controller.config.vel_limit = 2.0 * pi * 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
@@ -220,7 +221,7 @@ class TestVelLimitInTorqueControl(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):
max_rps = 20.0
max_vel = float(enc_ctx.yaml['cpr']) * max_rps
max_vel = 2.0 * pi * max_rps
absolute_max_vel = max_vel * 1.2
max_current = 15.0
torque_constant = 0.0305 #correct for 5065 motor
@@ -241,9 +242,9 @@ class TestVelLimitInTorqueControl(TestClosedLoopControlBase):
def data_getter():
# sample velocity twice to avoid systematic bias
velocity0 = axis_ctx.handle.encoder.vel_estimate
velocity0 = axis_ctx.handle.encoder.vel_est_rad
current_setpoint = axis_ctx.handle.motor.current_control.Iq_setpoint
velocity1 = axis_ctx.handle.encoder.vel_estimate
velocity1 = axis_ctx.handle.encoder.vel_est_rad
velocity = ((velocity0 + velocity1) / 2)
# Abort immediately if the absolute limits are exceeded
test_assert_within(current_setpoint, -max_current, max_current)
@@ -265,7 +266,7 @@ class TestVelLimitInTorqueControl(TestClosedLoopControlBase):
# Shrink the operating envelope while motor is moving faster than the envelope allows
max_rps = 5.0
max_vel = float(enc_ctx.yaml['cpr']) * max_rps
max_vel = 2.0 * pi * max_rps
axis_ctx.handle.controller.config.vel_limit = max_vel
# Move the system around its operating envelope
@@ -279,7 +280,7 @@ class TestVelLimitInTorqueControl(TestClosedLoopControlBase):
dataB = np.concatenate([dataB, record_log(data_getter, duration=1.0)])
# Try the shrink maneuver again at positive velocity
axis_ctx.handle.controller.config.vel_limit = 20.0 * float(enc_ctx.yaml['cpr'])
axis_ctx.handle.controller.config.vel_limit = 20.0 * 2.0 * pi
axis_ctx.handle.controller.input_torque = 4.0 * torque_constant
time.sleep(0.5)
axis_ctx.handle.controller.config.vel_limit = max_vel
@@ -301,13 +302,13 @@ class TestTorqueLimit(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):
max_rps = 15.0
max_vel = max_rps * float(enc_ctx.yaml['cpr'])
max_vel = max_rps * 2.0 * pi
max_current = 30.0
max_torque = 0.1 # must be less than max_current * torque_constant.
torque_constant = axis_ctx.handle.motor.config.torque_constant
test_pos = 5 * float(enc_ctx.yaml['cpr'])
test_vel = 10 * float(enc_ctx.yaml['cpr'])
test_pos = 5 * 2.0 * pi
test_vel = 10 * 2.0 * pi
test_torque = 0.5
axis_ctx.handle.controller.config.vel_limit = max_vel
tools/odrive/tests/step_dir_test.py
+6 -6
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@@ -22,8 +22,8 @@ class TestStepDir():
gpio_conns = [
list(testrig.get_connected_components((odrive.gpio1, False), LinuxGpioComponent)),
list(testrig.get_connected_components((odrive.gpio2, False), LinuxGpioComponent)),
list(testrig.get_connected_components((odrive.gpio3, False), LinuxGpioComponent)),
list(testrig.get_connected_components((odrive.gpio4, False), LinuxGpioComponent)),
#list(testrig.get_connected_components((odrive.gpio3, False), LinuxGpioComponent)), # connected to LPF on test rig
#list(testrig.get_connected_components((odrive.gpio4, False), LinuxGpioComponent)), # connected to LPF on test rig
list(testrig.get_connected_components((odrive.gpio5, False), LinuxGpioComponent)),
list(testrig.get_connected_components((odrive.gpio6, False), LinuxGpioComponent)),
list(testrig.get_connected_components((odrive.gpio7, False), LinuxGpioComponent)),
@@ -31,11 +31,11 @@ class TestStepDir():
]
yield (odrive.axes[0], 1, gpio_conns[0], 2, gpio_conns[1])
yield (odrive.axes[0], 3, gpio_conns[2], 4, gpio_conns[3])
yield (odrive.axes[0], 5, gpio_conns[4], 6, gpio_conns[5]) # broken
yield (odrive.axes[0], 7, gpio_conns[6], 8, gpio_conns[7]) # broken
yield (odrive.axes[0], 5, gpio_conns[2], 6, gpio_conns[3])
yield (odrive.axes[0], 7, gpio_conns[4], 8, gpio_conns[5]) # broken
# yield (odrive.axes[0], 7, gpio_conns[6], 8, gpio_conns[7]) # broken
yield (odrive.axes[1], 7, gpio_conns[6], 8, gpio_conns[7])
yield (odrive.axes[1], 7, gpio_conns[4], 8, gpio_conns[5])
def run_test(self, axis: ODriveAxisComponent, step_gpio_num: int, step_gpio: LinuxGpioComponent, dir_gpio_num: int, dir_gpio: LinuxGpioComponent, logger: Logger):
step_gpio.config(output=True)