Merge pull request #301 from tinymovr/studio/flux_braking_tests

also compare without flux braking and negative velocity
tinymovr · Oct 4, 2023 · b30b800 · b30b800
2 parents 1fd00b4 + 189daae
commit b30b800
Showing 1 changed file with 22 additions and 11 deletions.
diff --git a/studio/Python/tests/test_board.py b/studio/Python/tests/test_board.py
@@ -367,19 +367,30 @@ def test_p_flux_braking(self):
         # Ensure we're idle
         self.check_state(0)
         self.try_calibrate()
-
-        self.tm.controller.current.max_Ibrake = 10
+        self.tm.controller.current.max_Ibrake = 0
         self.tm.controller.velocity_mode()
-        self.tm.controller.velocity.setpoint = 200000
-        time.sleep(0.4)
-        self.tm.controller.velocity.setpoint = 0
-        I_brake_vals = []
-        for _ in range(50):
-            I_brake_vals.append(self.tm.Ibus)
-            time.sleep(0.005)
-        time.sleep(0.5)
+        for v_set in [-250000, 250000]:
+            self.tm.controller.velocity.setpoint = v_set
+            time.sleep(0.4)
+            self.tm.controller.velocity.setpoint = 0
+            I_brake_vals = []
+            for _ in range(200):
+                I_brake_vals.append(self.tm.Ibus)
+                time.sleep(0.001)
+            time.sleep(0.2)
+            self.assertLess(min(I_brake_vals), -0.12 * A)
+        self.tm.controller.current.max_Ibrake = 10
+        for v_set in [-250000, 250000]:
+            self.tm.controller.velocity.setpoint = v_set
+            time.sleep(0.4)
+            self.tm.controller.velocity.setpoint = 0
+            I_brake_vals = []
+            for _ in range(200):
+                I_brake_vals.append(self.tm.Ibus)
+                time.sleep(0.001)
+            time.sleep(0.2)
+            self.assertGreater(min(I_brake_vals), -0.12 * A)
         self.tm.controller.current.max_Ibrake = 0
-        self.assertGreater(min(I_brake_vals), -1 * A)
         self.tm.controller.idle()
         time.sleep(0.4)