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197 lines
7.0 KiB
C++
197 lines
7.0 KiB
C++
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#define DOCTEST_CONFIG_IMPLEMENT_WITH_MAIN
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#define DOCTEST_CONFIG_TREAT_CHAR_STAR_AS_STRING
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#define DOCTEST_CONFIG_USE_STD_HEADERS
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#define DOCTEST_CONFIG_NO_TRY_CATCH_IN_ASSERTS
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#define DOCTEST_CONFIG_NO_EXCEPTIONS
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#define DOCTEST_CONFIG_NO_WINDOWS_SEH
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#define DOCTEST_CONFIG_NO_POSIX_SIGNALS
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// #define DOCTEST_CONFIG_VOID_CAST_EXPRESSIONS
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#include <doctest.h>
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using std::cout;
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using std::endl;
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TEST_SUITE("delta_enc") {
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// Modulo (as opposed to remainder), per https://stackoverflow.com/a/19288271
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int mod(int dividend, int divisor) {
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int r = dividend % divisor;
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return (r < 0) ? (r + divisor) : r;
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}
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int getDelta(int pos_abs, int count_in_cpr, int cpr) {
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int delta_enc = pos_abs - count_in_cpr;
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delta_enc = mod(delta_enc, cpr);
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if (delta_enc > (cpr / 2))
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delta_enc -= cpr;
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return delta_enc;
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}
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TEST_CASE("mod") {
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int cpr = 1000;
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// Check moves around 0
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CHECK(getDelta(1, 0, cpr) == 1);
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CHECK(getDelta(0, 1, cpr) == -1);
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CHECK(getDelta(999, 0, cpr) == -1);
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CHECK(getDelta(50, 650, cpr) == 400);
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CHECK(getDelta(650, 50, cpr) == -400);
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CHECK(getDelta(50, 500, cpr) == -450);
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CHECK(getDelta(500, 50, cpr) == 450);
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// Test moving a distance larger than cpr / 2
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CHECK(getDelta(950, 450, cpr) == 500);
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CHECK(getDelta(451, 950, cpr) == -499);
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CHECK(getDelta(450, 950, cpr) == 500);
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// Test handling around mid-point
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CHECK(getDelta(501, 499, cpr) == 2);
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CHECK(getDelta(499, 501, cpr) == -2);
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CHECK(getDelta(550, 450, cpr) == 100);
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CHECK(getDelta(450, 550, cpr) == -100);
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}
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}
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TEST_SUITE("velLimiter") {
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// Velocity limiting in current mode
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#include <algorithm>
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using doctest::Approx;
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auto limitVel(float vel_limit, float vel_estimate, float vel_gain, float Iq) {
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float Imax = (vel_limit - vel_estimate) * vel_gain;
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float Imin = (-vel_limit - vel_estimate) * vel_gain;
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return std::clamp(Iq, Imin, Imax);
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}
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TEST_CASE("limit Vel") {
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CHECK(limitVel(0, 0, 0, 0) == 0.0f);
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CHECK(limitVel(1000.0f, 1.0f, 0.0f, 0.0f) == 0.0f);
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CHECK(limitVel(1000.0f, 500.0f, 1.0f, 1.0f) == 1.0f);
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CHECK(limitVel(1000.0f, 500.0f, 1.0f, -20.0f) == -20.0f);
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CHECK(limitVel(1000.0f, 999.0f, 1.0f, 2.0f) == 1.0f);
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CHECK(limitVel(1000.0f, 999.0f, 1.0f, -5.0f) == -5.0f);
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CHECK(limitVel(1000.0f, -999.0f, 1.0f, -5.0f) == -1.0f);
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CHECK(limitVel(1000.0f, -999.0f, 1.0f, 5.0f) == 5.0f);
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CHECK(limitVel(1000.0f, 0.0f, 1.0f, 1.0f) == 1.0f);
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CHECK(limitVel(1000.0f, 0.0f, 1.0f, -1.0f) == -1.0f);
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}
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TEST_CASE("Accelerating") {
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CHECK(limitVel(200000.0f, 195000.0f, 5.0E-4f, 30.0f) == 2.5f);
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CHECK(limitVel(200000.0f, 205000.0f, 5.0E-4f, 30.0f) == -2.5f);
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CHECK(limitVel(200000.0f, -195000.0f, 5.0E-4, -30.0f) == -2.5f);
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CHECK(limitVel(200000.0f, -205000.0f, 5.0E-4f, -30.0f) == 2.5f);
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}
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TEST_CASE("Decelerating") {
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CHECK(limitVel(200000.0f, 195000.0f, 5.0E-4f, -30.0f) == -30.0f);
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CHECK(limitVel(200000.0f, 205000.0f, 5.0E-4f, -30.0f) == -30.0f);
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CHECK(limitVel(200000.0f, -195000.0f, 5.0E-4, 30.0f) == 30.0f);
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CHECK(limitVel(200000.0f, -205000.0f, 5.0E-4f, 30.0f) == 30.0f);
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}
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TEST_CASE("Over-Center") {
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CHECK(limitVel(20000.0f, 1000.0f, 5.0E-4f, 30.0f) == 9.5f);
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CHECK(limitVel(20000.0f, -1000.0f, 5.0E-4f, 30.0f) == Approx(10.5f));
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}
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}
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TEST_SUITE("vel_ramp") {
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float vel_ramp_old(float input_vel_, float vel_setpoint_, float vel_ramp_rate) {
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float max_step_size = 0.000125f * vel_ramp_rate;
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float full_step = input_vel_ - vel_setpoint_;
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float step;
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if (std::abs(full_step) > max_step_size) {
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step = std::copysignf(max_step_size, full_step);
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} else {
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step = full_step;
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}
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return step;
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}
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float vel_ramp_new(float input_vel_, float vel_setpoint_, float vel_ramp_rate) {
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float max_step_size = 0.000125f * vel_ramp_rate;
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float full_step = input_vel_ - vel_setpoint_;
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return std::clamp(full_step, -max_step_size, max_step_size);
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}
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uint8_t parity(uint16_t v) {
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v ^= v >> 8;
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v ^= v >> 4;
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v ^= v >> 2;
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v ^= v >> 1;
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return v & 1;
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}
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TEST_CASE("Equivalence") {
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float vel_setpoint = 0.0f;
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float vel_ramp_rate = 8000;
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float input_vel = 0.0f;
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CHECK(vel_ramp_old(input_vel, vel_setpoint, vel_ramp_rate) == vel_ramp_new(input_vel, vel_setpoint, vel_ramp_rate));
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input_vel = 10.0f;
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CHECK(vel_ramp_old(input_vel, vel_setpoint, vel_ramp_rate) == vel_ramp_new(input_vel, vel_setpoint, vel_ramp_rate));
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input_vel = 10000.0f;
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CHECK(vel_ramp_old(input_vel, vel_setpoint, vel_ramp_rate) == vel_ramp_new(input_vel, vel_setpoint, vel_ramp_rate));
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input_vel = -10000.0f;
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CHECK(vel_ramp_old(input_vel, vel_setpoint, vel_ramp_rate) == vel_ramp_new(input_vel, vel_setpoint, vel_ramp_rate));
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input_vel = -0.1234f;
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CHECK(vel_ramp_old(input_vel, vel_setpoint, vel_ramp_rate) == vel_ramp_new(input_vel, vel_setpoint, vel_ramp_rate));
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input_vel = 0.1234f;
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CHECK(vel_ramp_old(input_vel, vel_setpoint, vel_ramp_rate) == vel_ramp_new(input_vel, vel_setpoint, vel_ramp_rate));
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}
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TEST_CASE("Parity") {
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CHECK(parity(0x0DDF & 0x7FFF) == 0);
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CHECK(parity(0x8DDF & 0x7FFF) == 0);
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CHECK(parity(0x5BFF & 0x7FFF) == 1);
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}
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}
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TEST_SUITE("") {
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float step_cb(bool step_dir_active_, bool dir_pin, float& input_pos_, float turns_per_step) {
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if (step_dir_active_) {
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// const bool dir_pin = dir_gpio_.read();
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const float dir = dir_pin ? 1.0f : -1.0f;
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input_pos_ += dir * turns_per_step;
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// controller_.input_pos_ += dir * config_.turns_per_step;
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// controller_.input_pos_updated();
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}
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return input_pos_;
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}
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float step_cb_new(bool step_dir_active_, bool dir_pin, int64_t& steps_, float turns_per_step) {
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if (step_dir_active_) {
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dir_pin ? ++steps_ : --steps_;
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// controller_.input_pos_ = steps_ * config_.turns_per_step;
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// controller_.input_pos_updated();
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}
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return steps_ * turns_per_step;
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}
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TEST_CASE("step_cb") {
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bool step_dir_active = true;
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bool dir_pin = true;
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float input_pos = 0.0f;
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float turns_per_step = 1/8192.0f;
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int64_t steps = 0;
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CHECK(step_cb(step_dir_active, dir_pin, input_pos, turns_per_step) ==
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step_cb_new(step_dir_active, dir_pin, steps, turns_per_step));
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for (uint64_t i = 0; i < 1ULL << 33; ++i) {
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step_cb(step_dir_active, dir_pin, input_pos, turns_per_step);
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step_cb_new(step_dir_active, dir_pin, steps, turns_per_step);
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}
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std::cout << step_cb(step_dir_active, dir_pin, input_pos, turns_per_step) << '\n';
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std::cout << step_cb_new(step_dir_active, dir_pin, steps, turns_per_step) << '\n';
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}
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}
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