add hall test

studio/Python/tests/test_hall.py

@@ -0,0 +1,104 @@
+"""
+Tinymovr Board Config Tests
+Copyright Ioannis Chatzikonstantinou 2020-2023
+
+Tests saving and loading Tinymovr configuration to/from NVRAM.
+
+This program is free software: you can redistribute it and/or modify it under
+the terms of the GNU General Public License as published by the Free Software
+Foundation, either version 3 of the License, or (at your option) any later
+version.
+This program is distributed in the hope that it will be useful, but WITHOUT
+ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+You should have received a copy of the GNU General Public License along with
+this program. If not, see <http://www.gnu.org/licenses/>.
+"""
+
+import random
+import time
+
+from avlos.unit_field import get_registry
+
+import unittest
+from tests import TMTestCase
+
+ureg = get_registry()
+A = ureg.ampere
+tick = ureg.ticks
+s = ureg.second
+tsleep = 1.00
+
+
+def set_pole_pairs(tm):
+    tm.motor.pole_pairs = 15
+
+class TestHall(TMTestCase):
+
+    def test_a_position_control_w_loaded_config(self):
+        """
+        Test position control after saving and loading config.
+        WARNING: This will perform one NVRAM write and two erase cycles.
+        """
+        pass
+        self.check_state(0)
+        self.tm.erase_config()
+        time.sleep(0.2)
+
+        self.tm.sensors.select.position_sensor.connection = self.tm.sensors.select.position_sensor.connection.HALL
+        self.tm.sensors.select.commutation_sensor.connection = self.tm.sensors.select.commutation_sensor.connection.HALL
+        # Commutation sensor remains internal
+
+        self.tm.sensors.select.position_sensor.bandwidth = 50;
+        self.tm.sensors.select.commutation_sensor.bandwidth = 80;
+        time.sleep(0.2)
+
+        self.try_calibrate(precheck_callback=set_pole_pairs)
+
+        self.tm.controller.position.p_gain = 15
+        self.tm.controller.velocity.limit = 400000
+        self.tm.controller.velocity.p_gain = 1e-5
+        self.tm.controller.velocity.i_gain = 0
+
+        self.tm.controller.position_mode()
+        self.check_state(2)
+
+        for _ in range(5):
+            new_pos = random.uniform(-200000, 200000)
+            self.tm.controller.position.setpoint = new_pos * tick
+            time.sleep(tsleep)
+            self.assertAlmostEqual(
+                self.tm.sensors.user_frame.position_estimate,
+                self.tm.controller.position.setpoint,
+                delta=30000 * tick,
+            )
+
+        self.tm.controller.idle()
+
+        time.sleep(0.1)
+
+        self.tm.save_config()
+
+        time.sleep(0.2)
+
+        self.reset_and_wait()
+
+        self.tm.controller.position_mode()
+        self.check_state(2)
+
+        for _ in range(10):
+            new_pos = random.uniform(-200000, 200000)
+            self.tm.controller.position.setpoint = new_pos * tick
+            time.sleep(tsleep)
+            self.assertAlmostEqual(
+                self.tm.sensors.user_frame.position_estimate,
+                self.tm.controller.position.setpoint,
+                delta=30000 * tick,
+            )
+
+        self.tm.erase_config()
+        time.sleep(0.2)
+
+
+if __name__ == "__main__":
+    unittest.main()