tinymovr 2.3.1__tar.gz → 2.3.3__tar.gz

{tinymovr-2.3.1/tinymovr.egg-info → tinymovr-2.3.3}/PKG-INFO

@@ -1,6 +1,6 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.4
 Name: tinymovr
-Version: 2.3.1
+Version: 2.3.3
 Summary: Tinymovr Studio
 Home-page: https://github.com/yconst/Tinymovr
 Author: Yannis Chatzikonstantinou
@@ -10,7 +10,32 @@ Classifier: License :: OSI Approved :: GNU General Public License v3 or later (G
 Classifier: Operating System :: OS Independent
 Requires-Python: >=3.9
 Description-Content-Type: text/markdown
+Requires-Dist: ipython
+Requires-Dist: importlib_resources
+Requires-Dist: python-can
+Requires-Dist: python-can-canine
+Requires-Dist: python-can-slcan_disco
+Requires-Dist: avlos>=0.6.6
+Requires-Dist: pyserial
+Requires-Dist: pyusb
+Requires-Dist: pyyaml
+Requires-Dist: docopt
+Requires-Dist: flatten-dict
+Requires-Dist: pint
+Requires-Dist: pretty_errors
 Provides-Extra: gui
+Requires-Dist: pyside6; extra == "gui"
+Requires-Dist: pyqtgraph>=0.13.3; extra == "gui"
+Dynamic: author
+Dynamic: author-email
+Dynamic: classifier
+Dynamic: description
+Dynamic: description-content-type
+Dynamic: home-page
+Dynamic: provides-extra
+Dynamic: requires-dist
+Dynamic: requires-python
+Dynamic: summary
 
 ![Studio Lint Test](https://github.com/yconst/tinymovr/workflows/Tinymovr%20Studio%20Lint%2FTest/badge.svg)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)

tinymovr-2.3.3/tests/test_amt22.py

@@ -0,0 +1,159 @@
+"""
+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-2.3.3/tests/test_as5047.py

@@ -0,0 +1,210 @@
+"""
+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-2.3.1 → tinymovr-2.3.3}/tests/test_board.py

@@ -98,6 +98,11 @@ class TestBoard(TMTestCase):
         self.check_state(0)
         self.tm.controller.current.Iq_limit = 5
         self.try_calibrate()
+        if hw_rev > 20:
+            self.tm.controller.position.p_gain = 5
+            self.tm.controller.velocity.p_gain = 2e-5
+            self.tm.controller.velocity.i_gain = 0
+
         self.tm.controller.position_mode()
         self.check_state(2)
 

tinymovr-2.3.3/tests/test_hall.py

@@ -0,0 +1,105 @@
+"""
+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()

tinymovr-2.3.3/tests/test_nvm.py

@@ -0,0 +1,250 @@
+"""
+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 = 0.30
+
+
+class TestNVM(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)
+
+    def test_e_save_settings_and_reset(self):
+        """
+        Test case for issue reported by @Phosfor on Discord:
+        1. Configure current limits etc.
+        2. Calibrate the controller
+        3. Make sure everything is working (i.e. enter current/velocity mode)
+        4. Save the configuration
+        5. Reset the tinymovr; all settings are still correct and the tinymovr reports that it is calibrated
+        6. Try to enter current/velocity mode again; the tinymovr says it is in the correct mode and in the control state, but the motor is not turning
+        """
+        # Step 1: Configure current limits etc.
+        self.check_state(0)
+        self.tm.erase_config()
+        time.sleep(0.2)
+
+        self.tm.controller.current.Iq_limit = 15 * A
+        self.tm.controller.velocity.limit = 200000 * tick / s
+        self.tm.controller.velocity.i_gain = 1e-5
+        self.tm.controller.velocity.p_gain = 1.6e-4
+        self.tm.controller.velocity.deadband = 50 * tick
+        self.tm.traj_planner.max_vel = 110000 * tick / s
+        self.tm.traj_planner.max_accel = 500000 * tick / s
+        self.tm.traj_planner.max_decel = 500000 * tick / (s * s)
+
+        # Step 2: Calibrate the controller
+        self.try_calibrate()
+        self.assertEqual(self.tm.motor.calibrated, True)
+
+        # Step 3: Make sure everything is working (i.e. enter current/velocity mode)
+        self.tm.controller.velocity_mode()
+        self.check_state(2)
+        
+        for _ in range(5):
+            new_velocity = random.uniform(-50000, 50000)
+            self.tm.controller.velocity.setpoint = new_velocity * tick / s
+            time.sleep(tsleep)
+            self.assertAlmostEqual(
+                self.tm.sensors.user_frame.velocity_estimate,
+                self.tm.controller.velocity.setpoint,
+                delta=5000 * tick / s,
+            )
+        
+        self.tm.controller.idle()
+        time.sleep(0.1)
+
+        # Step 4: Save the configuration
+        self.tm.save_config()
+        time.sleep(0.2)
+
+        # Step 5: Reset the tinymovr; all settings are still correct and the tinymovr reports that it is calibrated
+        self.reset_and_wait()
+        self.assertEqual(self.tm.motor.calibrated, True)
+        self.assertAlmostEqual(self.tm.controller.current.Iq_limit, 15 * A)
+        self.assertAlmostEqual(self.tm.controller.velocity.limit, 200000 * tick / s)
+        self.assertAlmostEqual(self.tm.controller.velocity.i_gain, 1e-5)
+        self.assertAlmostEqual(self.tm.controller.velocity.p_gain, 1.6e-4)
+        self.assertAlmostEqual(self.tm.controller.velocity.deadband, 50 * tick)
+        self.assertAlmostEqual(self.tm.traj_planner.max_vel, 110000 * tick / s)
+        self.assertAlmostEqual(self.tm.traj_planner.max_accel, 500000 * tick / s)
+        self.assertAlmostEqual(self.tm.traj_planner.max_decel, 500000 * tick / (s * s))
+
+        # Step 6: Try to enter current/velocity mode again; the tinymovr says it is in the correct mode and in the control state, but the motor is not turning (and I don't hear any switching noise that I usually hear when the tinymovr is in the active state)
+        self.tm.controller.velocity_mode()
+        self.check_state(2)
+        
+        for _ in range(5):
+            new_velocity = random.uniform(-50000, 50000)
+            self.tm.controller.velocity.setpoint = new_velocity * tick / s
+            time.sleep(tsleep)
+            # Here we expect the motor not to turn, so we check for lack of movement
+            self.assertAlmostEqual(
+                self.tm.sensors.user_frame.velocity_estimate,
+                self.tm.controller.velocity.setpoint,
+                delta=5000 * tick / s,
+            )
+        
+        self.tm.controller.idle()
+        time.sleep(0.1)
+
+        self.tm.erase_config()
+        time.sleep(0.2)
+
+
+
+if __name__ == "__main__":
+    unittest.main()

{tinymovr-2.3.1 → tinymovr-2.3.3}/tinymovr/bus_router.py

@@ -20,6 +20,7 @@ import warnings
 from enum import Enum
 from threading import Thread, Lock
 from tinymovr.bus_manager import BusManager
+from logging import Logger
 
 
 bus_router = None
@@ -86,7 +87,7 @@ class BusRouter:
         self.bus_manager.send(frame)
 
 
-def init_router(bus_class, bus_params, logger, timeout=0.1):
+def init_router(bus_class, bus_params, logger=Logger("tinymovr"), timeout=0.1):
     """
     Initializes a bus router using a python-can bus instance
     """

{tinymovr-2.3.1 → tinymovr-2.3.3}/tinymovr/cli.py

@@ -14,8 +14,8 @@ Options:
 
 import yaml
 import can
-import pkg_resources
 import IPython
+from importlib.metadata import version as get_version
 from traitlets.config import Config
 from docopt import docopt
 
@@ -46,7 +46,7 @@ def spawn():
     """
     Spawns the Tinymovr Studio IPython-based CLI.
     """
-    version = pkg_resources.require("tinymovr")[0].version
+    version = get_version("tinymovr")
     arguments = docopt(__doc__, version=app_name + " " + str(version))
 
     logger = configure_logging()

{tinymovr-2.3.1 → tinymovr-2.3.3}/tinymovr/gui/gui.py

@@ -15,7 +15,7 @@ Options:
 
 import sys
 import yaml
-import pkg_resources
+from importlib.metadata import version as get_version
 from importlib_resources import files
 from docopt import docopt
 from PySide6.QtWidgets import QApplication
@@ -44,7 +44,7 @@ this program. If not, see <http://www.gnu.org/licenses/>.
 
 
 def spawn():
-    version = pkg_resources.require("tinymovr")[0].version
+    version = get_version("tinymovr")
     arguments = docopt(__doc__, version=app_name + " " + str(version))
 
     logger = configure_logging()

{tinymovr-2.3.1 → tinymovr-2.3.3}/tinymovr/gui/window.py

@@ -18,7 +18,7 @@ this program. If not, see <http://www.gnu.org/licenses/>.
 import sys
 import time
 import logging
-import pkg_resources
+from importlib.metadata import version as get_version
 from contextlib import suppress
 import json
 from PySide6 import QtCore
@@ -439,7 +439,7 @@ class MainWindow(QMainWindow):
             self.delete_graph_by_attr_name(attr_name)
 
     def show_about_box(self):
-        version_str = pkg_resources.require("tinymovr")[0].version
+        version_str = get_version("tinymovr")
         app_str = "{} {}".format(app_name, version_str)
         QMessageBox.about(
             self,

{tinymovr-2.3.1 → tinymovr-2.3.3/tinymovr.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.4
 Name: tinymovr
-Version: 2.3.1
+Version: 2.3.3
 Summary: Tinymovr Studio
 Home-page: https://github.com/yconst/Tinymovr
 Author: Yannis Chatzikonstantinou
@@ -10,7 +10,32 @@ Classifier: License :: OSI Approved :: GNU General Public License v3 or later (G
 Classifier: Operating System :: OS Independent
 Requires-Python: >=3.9
 Description-Content-Type: text/markdown
+Requires-Dist: ipython
+Requires-Dist: importlib_resources
+Requires-Dist: python-can
+Requires-Dist: python-can-canine
+Requires-Dist: python-can-slcan_disco
+Requires-Dist: avlos>=0.6.6
+Requires-Dist: pyserial
+Requires-Dist: pyusb
+Requires-Dist: pyyaml
+Requires-Dist: docopt
+Requires-Dist: flatten-dict
+Requires-Dist: pint
+Requires-Dist: pretty_errors
 Provides-Extra: gui
+Requires-Dist: pyside6; extra == "gui"
+Requires-Dist: pyqtgraph>=0.13.3; extra == "gui"
+Dynamic: author
+Dynamic: author-email
+Dynamic: classifier
+Dynamic: description
+Dynamic: description-content-type
+Dynamic: home-page
+Dynamic: provides-extra
+Dynamic: requires-dist
+Dynamic: requires-python
+Dynamic: summary
 
 ![Studio Lint Test](https://github.com/yconst/tinymovr/workflows/Tinymovr%20Studio%20Lint%2FTest/badge.svg)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)

{tinymovr-2.3.1 → tinymovr-2.3.3}/tinymovr.egg-info/SOURCES.txt

@@ -2,9 +2,13 @@ MANIFEST.in
 README.md
 pyproject.toml
 setup.py
+tests/test_amt22.py
+tests/test_as5047.py
 tests/test_board.py
 tests/test_dfu.py
+tests/test_hall.py
 tests/test_homing.py
+tests/test_nvm.py
 tests/test_rates.py
 tests/test_simulation.py
 tests/test_traj_planner.py