Merge pull request #344 from tinymovr/fix_manifest_and_tests

Fix manifest and tests
tinymovr · Apr 26, 2024 · 933cf1b · 933cf1b
2 parents fa968ce + 69638a3
commit 933cf1b
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Showing 2 changed files with 10 additions and 2 deletions.
diff --git a/studio/Python/Manifest.in b/studio/Python/Manifest.in
@@ -11,5 +11,6 @@ include tinymovr/specs/tinymovr_1_3_x.yaml
 include tinymovr/specs/tinymovr_1_4_x.yaml
 include tinymovr/specs/tinymovr_1_5_x.yaml
 include tinymovr/specs/tinymovr_1_6_x.yaml
+include tinymovr/specs/tinymovr_2_0_x.yaml
 include tinymovr/specs/dfu_1_0_x.yaml
 include tinymovr/specs/dfu_1_1_x.yaml
diff --git a/studio/Python/tests/test_base_function.py b/studio/Python/tests/test_base_function.py
@@ -21,16 +21,23 @@ def test_position_control(self):
         """
         Test position control
         """
+        hw_rev = self.tm.hw_revision
         self.check_state(0)
-        self.tm.motor.I_cal = 5
+        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()
         self.check_state(2)
 
         for i in range(5):
             self.tm.controller.position.setpoint = i * 3000 * ticks
-            time.sleep(0.25)
+            if hw_rev > 20:
+                time.sleep(0.50)
+            else:
+                time.sleep(0.25)
             self.assertAlmostEqual(
                 i * 3000 * ticks, self.tm.sensors.user_frame.position_estimate, delta=1000 * ticks
             )