From dcb900c92ffd5d5c8f54053d5a21fe11c4c6f4f3 Mon Sep 17 00:00:00 2001
From: Josh Pieper <jjp@pobox.com>
Date: Thu, 28 Jul 2022 14:11:24 -0400
Subject: [PATCH] Revert a60aab46018a456df7f3ab6c5661711e0e00878c

I'm not sure what I was testing with, but all 5 motors I have tested
with today limit to half of the power specified with this change.
---
 fw/bldc_servo.cc           |  2 +-
 utils/dynamometer_drive.cc | 17 ++++++++++++-----
 2 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/fw/bldc_servo.cc b/fw/bldc_servo.cc
index 2cca47b4..d4fcc458 100644
--- a/fw/bldc_servo.cc
+++ b/fw/bldc_servo.cc
@@ -1684,7 +1684,7 @@ class BldcServo::Impl {
     // This is conservative... we could use std::hypot(d, q), however
     // that would take more CPU cycles, and most of the time we'll
     // only be seeing q != 0.
-    const float max_V = 0.5f * adjusted_max_power_W_ /
+    const float max_V = adjusted_max_power_W_ /
         (std::abs(status_.d_A) + std::abs(status_.q_A));
 
     if (!config_.voltage_mode_control) {
diff --git a/utils/dynamometer_drive.cc b/utils/dynamometer_drive.cc
index ecbd83a3..a522b75f 100644
--- a/utils/dynamometer_drive.cc
+++ b/utils/dynamometer_drive.cc
@@ -1898,11 +1898,13 @@ class Application {
       double expected_speed_Hz;
     } tests[] = {
       { 100.0, 4.04 },
-      { 20.0, 2.20 },
-      { 10.0, 1.35 },
-      { 5.0, 1.00 },
+      { 20.0, 3.12 },
+      { 10.0, 2.14 },
+      { 5.0, 1.43 },
     };
 
+    std::string errors;
+
     for (const auto test : tests) {
       dut_pid.max_power_W = test.power_W;
       co_await dut_->ConfigurePid(dut_pid);
@@ -1920,10 +1922,11 @@ class Application {
       fmt::print("Power {} / Speed {}\n", test.power_W, average_speed);
 
       if (RelativeError(average_speed, test.expected_speed_Hz) > 0.15) {
-        throw mjlib::base::system_error::einval(
+        if (!errors.empty()) { errors += "\n"; }
+        errors +=
             fmt::format(
                 "Speed {} != {} (within {}%)",
-                average_speed, test.expected_speed_Hz, 0.15 * 100));
+                average_speed, test.expected_speed_Hz, 0.15 * 100);
       }
 
       co_await dut_->Command("d stop");
@@ -1934,6 +1937,10 @@ class Application {
     co_await dut_->Command("d stop");
     co_await fixture_->Command("d stop");
 
+    if (!errors.empty()) {
+      throw mjlib::base::system_error::einval(errors);
+    }
+
     co_return;
   }