always set calibration current before calibration

tinymovr · May 3, 2024 · 84d7af9 · 84d7af9
1 parent 54d0023
commit 84d7af9
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Showing 5 changed files with 13 additions and 14 deletions.
diff --git a/studio/Python/tests/test_amt22.py b/studio/Python/tests/test_amt22.py
@@ -57,8 +57,6 @@ def test_a_position_control_before_after_save_and_load_config(self):
         self.configure_sensors(self.tm.sensors.setup.external_spi.type.AMT22)
         self.select_sensors(self.tm.sensors.select.position_sensor.connection.ONBOARD, self.tm.sensors.select.position_sensor.connection.EXTERNAL_SPI)
 
-        self.tm.motor.I_cal = 1.0
-
         self.try_calibrate()
 
         self.tm.controller.position.p_gain = 9
@@ -118,7 +116,6 @@ def test_b_position_control_following_sensor_change(self):
         # Initially configure with external SPI sensor
         self.configure_sensors(self.tm.sensors.setup.external_spi.type.AMT22)
         self.select_sensors(self.tm.sensors.select.position_sensor.connection.ONBOARD, self.tm.sensors.select.position_sensor.connection.EXTERNAL_SPI)
-        self.tm.motor.I_cal = 1.0
         self.try_calibrate()
 
         # Set initial controller gains

diff --git a/studio/Python/tests/test_as5047.py b/studio/Python/tests/test_as5047.py
@@ -57,8 +57,6 @@ def test_a_position_control_before_after_save_and_load_config(self):
         self.configure_sensors(self.tm.sensors.setup.external_spi.type.AS5047)
         self.select_sensors(self.tm.sensors.select.position_sensor.connection.ONBOARD, self.tm.sensors.select.position_sensor.connection.EXTERNAL_SPI)
 
-        self.tm.motor.I_cal = 0.8
-
         self.try_calibrate()
 
         self.tm.controller.position.p_gain = 9
@@ -117,7 +115,6 @@ def test_b_position_control_following_sensor_change(self):
         # Initially configure with external SPI sensor
         self.configure_sensors(self.tm.sensors.setup.external_spi.type.AS5047)
         self.select_sensors(self.tm.sensors.select.position_sensor.connection.ONBOARD, self.tm.sensors.select.position_sensor.connection.EXTERNAL_SPI)
-        self.tm.motor.I_cal = 0.8
         self.try_calibrate()
 
         # Set initial controller gains
@@ -179,8 +176,6 @@ def test_c_position_control_change_baud_rates(self):
         self.configure_sensors(self.tm.sensors.setup.external_spi.type.AS5047)
         self.select_sensors(self.tm.sensors.select.position_sensor.connection.ONBOARD, self.tm.sensors.select.position_sensor.connection.EXTERNAL_SPI)
 
-        self.tm.motor.I_cal = 0.8
-
         self.try_calibrate()
 
         self.tm.controller.position.p_gain = 9

diff --git a/studio/Python/tests/test_base_function.py b/studio/Python/tests/test_base_function.py
@@ -23,10 +23,6 @@ def test_position_control(self):
         """
         hw_rev = self.tm.hw_revision
         self.check_state(0)
-        if hw_rev > 20:
-            self.tm.motor.I_cal = 0.8
-        else:
-            self.tm.motor.I_cal = 5
         self.tm.controller.current.Iq_limit = 5
         self.try_calibrate()
         self.tm.controller.position_mode()

diff --git a/studio/Python/tests/test_board.py b/studio/Python/tests/test_board.py
@@ -235,7 +235,6 @@ def test_j_gimbal_mode(self):
         # Ensure we're idle
         self.check_state(0)
         self.tm.motor.type = 1  # gimbal
-        self.tm.motor.I_cal = 5.0
         self.tm.motor.R = 0.2
         self.tm.motor.L = 20 * 1e-5
         self.try_calibrate()

diff --git a/studio/Python/tests/tm_test_case.py b/studio/Python/tests/tm_test_case.py
@@ -61,8 +61,20 @@ def reset_and_wait(cls, timeout=0.5):
         cls.tm.reset()
         time.sleep(timeout)
 
-    def try_calibrate(self, force=False, precheck_callback=None, *args, **kwargs):
+    def try_calibrate(self, I_cal=None, force=False, precheck_callback=None,*args, **kwargs):
         if True == force or not self.tm.calibrated:
+            hw_rev = self.tm.hw_revision
+            self.check_state(0)
+            if I_cal and I_cal > 0:
+                self.tm.motor.I_cal = I_cal
+            elif hw_rev > 20:
+                self.tm.motor.I_cal = 0.8
+            else:
+                self.tm.motor.I_cal = 5
+
+            if hw_rev > 20:
+                self.tm.controller.velocity.P_gain = 2e-05
+
             self.tm.controller.calibrate()
             self.wait_for_calibration(*args, **kwargs)
             if precheck_callback: