tinymovr 2.2.2a1__tar.gz → 2.2.3a1__tar.gz

{tinymovr-2.2.2a1 → tinymovr-2.2.3a1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: tinymovr
-Version: 2.2.2a1
+Version: 2.2.3a1
 Summary: Tinymovr Studio
 Home-page: https://github.com/yconst/Tinymovr
 Author: Yannis Chatzikonstantinou

{tinymovr-2.2.2a1 → tinymovr-2.2.3a1}/tinymovr/dfu.py

@@ -1,12 +1,13 @@
 """
 Usage:
-    dfu.py --node_id=ID [--bin=PATH | --recovery] [--no-reset] [--bus=<bus>] [--chan=<chan>] [--bitrate=<bitrate>]
+    dfu.py --node_id=ID [--bin=PATH | --recovery] [--no-reset] [--force] [--bus=<bus>] [--chan=<chan>] [--bitrate=<bitrate>]
 
 Options:
     --node_id=ID The CAN Node ID of the device in DFU mode.
     --bin=PATH   The path of the .bin file to upload.
     --recovery   Perform recovery procedure for inaccessible DFU bootloader.
     --no-reset   Do not perform a reset following successful flashing.
+    --force      Force flashing even if device memory matches the .bin file.
     --bus=<bus>  One or more interfaces to use, first available is used [default: canine,slcan_disco].
     --chan=<chan>  The bus device "channel".
     --bitrate=<bitrate>  CAN bitrate [default: 1000000].
@@ -181,7 +182,7 @@ def spawn():
 
         # If an existing .bin file is specified, upload it to the device
         elif bin_path:
-            if compare_bin_w_device(device, bin_path):
+            if (not arguments["--force"]) and compare_bin_w_device(device, bin_path):
                 print("\nDevice memory matches the .bin file. Skipping flashing.")
             else:
                 upload_bin(device, bin_path)

{tinymovr-2.2.2a1 → tinymovr-2.2.3a1}/tinymovr.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: tinymovr
-Version: 2.2.2a1
+Version: 2.2.3a1
 Summary: Tinymovr Studio
 Home-page: https://github.com/yconst/Tinymovr
 Author: Yannis Chatzikonstantinou

{tinymovr-2.2.2a1 → tinymovr-2.2.3a1}/tinymovr.egg-info/SOURCES.txt

@@ -2,12 +2,8 @@ MANIFEST.in
 README.md
 pyproject.toml
 setup.py
-tests/test_amt22.py
-tests/test_as5047.py
 tests/test_board.py
-tests/test_board_config.py
 tests/test_dfu.py
-tests/test_hall.py
 tests/test_homing.py
 tests/test_rates.py
 tests/test_simulation.py

tinymovr-2.2.2a1/tests/test_amt22.py

@@ -1,159 +0,0 @@
-"""
-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
-import pytest
-from tests import TMTestCase
-
-ureg = get_registry()
-A = ureg.ampere
-tick = ureg.ticks
-s = ureg.second
-tsleep = 0.80
-
-
-class TestAMT22(TMTestCase):
-
-    @pytest.mark.sensor_amt22
-    def test_a_position_control_before_after_save_and_load_config(self):
-        """
-        Test position control after saving and loading config.
-        WARNING: This will perform one NVRAM write and two erase cycles.
-        """
-        self.check_state(0)
-        self.tm.erase_config()
-        time.sleep(0.2)
-
-        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.try_calibrate()
-
-        self.tm.controller.position.p_gain = 9
-        self.tm.controller.velocity.p_gain = 3e-5
-        self.tm.controller.velocity.i_gain = 0
-        self.tm.controller.velocity.limit = 200000
-
-        self.tm.controller.position_mode()
-        self.check_state(2)
-
-        for _ in range(10):
-            new_pos = random.uniform(-1000, 1000)
-            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=200 * 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(-1000, 1000)
-            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=200 * tick,
-            )
-
-        self.tm.erase_config()
-        time.sleep(0.2)
-
-    @pytest.mark.sensor_amt22
-    def test_b_position_control_following_sensor_change(self):
-        """
-        Test position control before and after changing sensor connection and type.
-        This test will alter the sensor configuration from an external SPI connection
-        to an onboard connection, and verify if the position control maintains accuracy.
-        """
-        self.check_state(0)
-        self.tm.erase_config()
-        time.sleep(0.2)
-
-        # 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.try_calibrate()
-
-        # Set initial controller gains
-        self.tm.controller.position.p_gain = 9
-        self.tm.controller.velocity.p_gain = 3e-5
-        self.tm.controller.velocity.i_gain = 0
-        self.tm.controller.velocity.limit = 200000
-
-        # Start with external SPI sensor
-        self.tm.controller.position_mode()
-        self.check_state(2)
-
-        for _ in range(5):
-            new_pos = random.uniform(-1000, 1000)
-            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=200 * tick,
-            )
-
-        self.tm.controller.idle()
-        time.sleep(0.1)
-
-        # Change to onboard sensor
-        self.select_sensors(self.tm.sensors.select.position_sensor.connection.ONBOARD, self.tm.sensors.select.position_sensor.connection.ONBOARD)
-
-        # Re-calibrate with new sensor setup
-        self.try_calibrate()
-        time.sleep(0.1)
-
-        self.tm.controller.position_mode()
-        self.check_state(2)
-
-        for _ in range(5):
-            new_pos = random.uniform(-10000, 10000)
-            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=2000 * tick,
-            )
-
-        self.tm.erase_config()
-        time.sleep(0.2)
-
-
-if __name__ == "__main__":
-    unittest.main()

tinymovr-2.2.2a1/tests/test_as5047.py

@@ -1,210 +0,0 @@
-"""
-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
-import pytest
-from tests import TMTestCase
-
-ureg = get_registry()
-A = ureg.ampere
-tick = ureg.ticks
-s = ureg.second
-tsleep = 0.50
-
-
-class TestAS5047(TMTestCase):
-
-    @pytest.mark.sensor_as5047
-    def test_a_position_control_before_after_save_and_load_config(self):
-        """
-        Test position control after saving and loading config.
-        WARNING: This will perform one NVRAM write and two erase cycles.
-        """
-        self.check_state(0)
-        self.tm.erase_config()
-        time.sleep(0.2)
-
-        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.try_calibrate()
-
-        self.tm.controller.position.p_gain = 9
-        self.tm.controller.velocity.p_gain = 2e-5
-        self.tm.controller.velocity.i_gain = 0
-
-        self.tm.controller.position_mode()
-        self.check_state(2)
-
-        for _ in range(10):
-            new_pos = random.uniform(-20000, 20000)
-            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=2000 * 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(-20000, 20000)
-            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=2000 * tick,
-            )
-
-        self.tm.erase_config()
-        time.sleep(0.2)
-
-    @pytest.mark.sensor_as5047
-    def test_b_position_control_following_sensor_change(self):
-        """
-        Test position control before and after changing sensor connection and type.
-        This test will alter the sensor configuration from an external SPI connection
-        to an onboard connection, and verify if the position control maintains accuracy.
-        """
-        self.check_state(0)
-        self.tm.erase_config()
-        time.sleep(0.2)
-
-        # 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.try_calibrate()
-
-        # Set initial controller gains
-        self.tm.controller.position.p_gain = 9
-        self.tm.controller.velocity.p_gain = 3e-5
-        self.tm.controller.velocity.i_gain = 0
-        self.tm.controller.velocity.limit = 200000
-
-        # Start with external SPI sensor
-        self.tm.controller.position_mode()
-        self.check_state(2)
-
-        for _ in range(5):
-            new_pos = random.uniform(-20000, 20000)
-            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=2000 * tick,
-            )
-
-        self.tm.controller.idle()
-        time.sleep(0.1)
-
-        # Change to onboard sensor
-        self.select_sensors(self.tm.sensors.select.position_sensor.connection.ONBOARD, self.tm.sensors.select.position_sensor.connection.ONBOARD)
-
-        # Re-calibrate with new sensor setup
-        self.try_calibrate()
-        time.sleep(0.1)
-
-        self.tm.controller.position_mode()
-        self.check_state(2)
-
-        for _ in range(5):
-            new_pos = random.uniform(-20000, 20000)
-            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=2000 * tick,
-            )
-
-        self.tm.erase_config()
-        time.sleep(0.2)
-
-    @pytest.mark.sensor_as5047
-    def test_c_position_control_change_baud_rates(self):
-        """
-        Test position control with external sensor and
-        different baud rates.
-        """
-        self.check_state(0)
-        self.tm.erase_config()
-        time.sleep(0.2)
-
-        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.try_calibrate()
-
-        self.tm.controller.position.p_gain = 9
-        self.tm.controller.velocity.p_gain = 2e-5
-        self.tm.controller.velocity.i_gain = 0
-
-        self.tm.controller.position_mode()
-        self.check_state(2)
-
-        for _ in range(10):
-            new_pos = random.uniform(-20000, 20000)
-            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=2000 * tick,
-            )
-
-        self.tm.controller.idle()
-
-        self.tm.sensors.setup.external_spi.rate = "1_5Mbps"
-        time.sleep(0.1)
-
-        self.tm.controller.position_mode()
-        self.check_state(2)
-
-        for _ in range(10):
-            new_pos = random.uniform(-20000, 20000)
-            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=2000 * tick,
-            )
-
-        self.tm.controller.idle()
-
-
-if __name__ == "__main__":
-    unittest.main()

tinymovr-2.2.2a1/tests/test_board_config.py

@@ -1,167 +0,0 @@
-"""
-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 = 0.20
-
-
-class TestBoardConfig(TMTestCase):
-    def test_a_state_errors(self):
-        """
-        Test state transitions
-        WARNING: This may perform one NVRAM erase cycle.
-        """
-        if self.tm.motor.calibrated:
-            self.tm.erase_config()
-            time.sleep(0.2)
-
-        self.reset_and_wait()
-        self.check_state(0)
-        self.assertEqual(self.tm.motor.calibrated, False)
-        self.tm.controller.position_mode()
-        self.check_state(0)
-        self.reset_and_wait()
-        self.check_state(0)
-        self.assertEqual(self.tm.motor.calibrated, False)
-        self.try_calibrate()
-        self.assertEqual(self.tm.motor.calibrated, True)
-        self.check_state(0)
-        time.sleep(0.2)
-        self.tm.controller.position_mode()
-        self.check_state(2)
-        time.sleep(0.2)
-        self.tm.controller.calibrate()
-        self.check_state(0)
-
-        self.reset_and_wait()
-
-    def test_b_save_load_config(self):
-        """
-        Test erasing, saving and loading of config.
-        WARNING: This will perform one NVRAM write and two erase cycles.
-        """
-        self.check_state(0)
-        self.tm.erase_config()
-        time.sleep(0.2)
-        self.assertEqual(self.tm.motor.calibrated, False)
-        self.try_calibrate()
-        self.assertEqual(self.tm.motor.calibrated, True)
-        R = self.tm.motor.R
-        L = self.tm.motor.L
-        pole_pairs = self.tm.motor.pole_pairs
-        self.tm.save_config()
-        time.sleep(0.2)
-        self.reset_and_wait()
-        self.assertEqual(self.tm.motor.calibrated, True)
-        self.assertAlmostEqual(R, self.tm.motor.R)
-        self.assertAlmostEqual(L, self.tm.motor.L)
-        self.assertAlmostEqual(pole_pairs, self.tm.motor.pole_pairs)
-        self.tm.erase_config()
-        time.sleep(0.2)
-
-    def test_c_parameter_persistence(self):
-        """
-        Test persisting parameters across config saves.
-        WARNING: This will perform one NVRAM write and two erase cycles.
-        """
-        self.check_state(0)
-        self.tm.erase_config()
-        time.sleep(0.2)
-
-        self.tm.controller.position.p_gain = 30
-        self.tm.controller.velocity.p_gain = 3e-5
-        self.tm.controller.velocity.i_gain = 2e-2
-        self.tm.controller.velocity.deadband = 100
-        self.tm.controller.velocity.limit = 120000
-        self.tm.controller.current.Iq_limit = 18
-        self.tm.save_config()
-        
-        time.sleep(0.2)
-        self.reset_and_wait()
-        self.assertAlmostEqual(self.tm.controller.position.p_gain, 30) #  * 1 / s
-        self.assertAlmostEqual(self.tm.controller.velocity.p_gain, 3e-5) #  * A * s / tick
-        self.assertAlmostEqual(self.tm.controller.velocity.i_gain, 2e-2) #  * A * s / tick
-        self.assertAlmostEqual(self.tm.controller.velocity.deadband, 100 * tick) 
-        self.assertAlmostEqual(self.tm.controller.velocity.limit, 120000 * tick / s)
-        self.assertAlmostEqual(self.tm.controller.current.Iq_limit, 18 * A)
-        self.tm.erase_config()
-        time.sleep(0.2)
-
-    def test_d_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.
-        """
-        self.check_state(0)
-        self.tm.erase_config()
-        time.sleep(0.2)
-
-        self.try_calibrate()
-
-        self.tm.controller.position_mode()
-        self.check_state(2)
-
-        for _ in range(15):
-            new_pos = random.uniform(-24000, 24000)
-            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=2000 * 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(15):
-            new_pos = random.uniform(-24000, 24000)
-            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=2000 * tick,
-            )
-
-        self.tm.erase_config()
-        time.sleep(0.2)
-
-
-if __name__ == "__main__":
-    unittest.main()

tinymovr-2.2.2a1/tests/test_hall.py

@@ -1,105 +0,0 @@
-"""
-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
-import pytest
-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):
-
-    @pytest.mark.sensor_hall
-    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.
-        """
-        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()