tinymovr 2.3.3__tar.gz → 2.4.0__tar.gz

{tinymovr-2.3.3 → tinymovr-2.4.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: tinymovr
-Version: 2.3.3
+Version: 2.4.0
 Summary: Tinymovr Studio
 Home-page: https://github.com/yconst/Tinymovr
 Author: Yannis Chatzikonstantinou

{tinymovr-2.3.3 → tinymovr-2.4.0}/tests/test_amt22.py

@@ -40,7 +40,7 @@ class TestAMT22(TMTestCase):
         WARNING: This will perform one NVRAM write and two erase cycles.
         """
         self.check_state(0)
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
         self.configure_sensors(self.tm.sensors.setup.external_spi.type.AMT22)
@@ -70,7 +70,7 @@ class TestAMT22(TMTestCase):
 
         time.sleep(0.1)
 
-        self.tm.save_config()
+        self.save_config()
         
         time.sleep(0.2)
 
@@ -89,7 +89,7 @@ class TestAMT22(TMTestCase):
                 delta=200 * tick,
             )
 
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
     @pytest.mark.sensor_amt22
@@ -100,7 +100,7 @@ class TestAMT22(TMTestCase):
         to an onboard connection, and verify if the position control maintains accuracy.
         """
         self.check_state(0)
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
         # Initially configure with external SPI sensor
@@ -151,7 +151,7 @@ class TestAMT22(TMTestCase):
                 delta=2000 * tick,
             )
 
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
 

{tinymovr-2.3.3 → tinymovr-2.4.0}/tests/test_as5047.py

@@ -40,7 +40,7 @@ class TestAS5047(TMTestCase):
         WARNING: This will perform one NVRAM write and two erase cycles.
         """
         self.check_state(0)
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
         self.configure_sensors(self.tm.sensors.setup.external_spi.type.AS5047)
@@ -69,7 +69,7 @@ class TestAS5047(TMTestCase):
 
         time.sleep(0.1)
 
-        self.tm.save_config()
+        self.save_config()
         
         time.sleep(0.2)
 
@@ -88,7 +88,7 @@ class TestAS5047(TMTestCase):
                 delta=2000 * tick,
             )
 
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
     @pytest.mark.sensor_as5047
@@ -99,7 +99,7 @@ class TestAS5047(TMTestCase):
         to an onboard connection, and verify if the position control maintains accuracy.
         """
         self.check_state(0)
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
         # Initially configure with external SPI sensor
@@ -150,7 +150,7 @@ class TestAS5047(TMTestCase):
                 delta=2000 * tick,
             )
 
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
     @pytest.mark.sensor_as5047
@@ -160,7 +160,7 @@ class TestAS5047(TMTestCase):
         different baud rates.
         """
         self.check_state(0)
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
         self.configure_sensors(self.tm.sensors.setup.external_spi.type.AS5047)

{tinymovr-2.3.3 → tinymovr-2.4.0}/tests/test_board.py

@@ -182,21 +182,27 @@ class TestBoard(TMTestCase):
         self.check_state(2)
 
         if hw_rev > 20:
-            self.tm.controller.velocity.limit = 100000 * ticks / s
-            tick_range = 10000
+            self.tm.controller.velocity.limit = 80000 * ticks / s
+            self.tm.controller.velocity.deadband = 500
+            tick_range = 8000
+            settle_time = 0.50
+            tolerance = 3000
         else:
-            self.tm.controller.velocity.limit = 200000 * ticks / s
-            tick_range = 24000
+            self.tm.controller.velocity.limit = 120000 * ticks / s
+            self.tm.controller.velocity.deadband = 1000
+            tick_range = 18000
+            settle_time = 0.50
+            tolerance = 3000
 
         for _ in range(15):
             new_pos = random.uniform(-tick_range, tick_range)
             self.tm.controller.position.setpoint = new_pos * ticks
-            
-            time.sleep(0.35)
+
+            time.sleep(settle_time)
             self.assertAlmostEqual(
                 self.tm.sensors.user_frame.position_estimate,
                 self.tm.controller.position.setpoint,
-                delta=2000 * ticks,
+                delta=tolerance * ticks,
             )
 
     @pytest.mark.hitl_default

{tinymovr-2.3.3 → tinymovr-2.4.0}/tests/test_hall.py

@@ -43,7 +43,7 @@ class TestHall(TMTestCase):
         WARNING: This will perform one NVRAM write and two erase cycles.
         """
         self.check_state(0)
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
         self.tm.sensors.select.position_sensor.connection = self.tm.sensors.select.position_sensor.connection.HALL
@@ -78,7 +78,7 @@ class TestHall(TMTestCase):
 
         time.sleep(0.1)
 
-        self.tm.save_config()
+        self.save_config()
         
         time.sleep(0.2)
 
@@ -97,7 +97,7 @@ class TestHall(TMTestCase):
                 delta=30000 * tick,
             )
 
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)