def test_microstep_resolution(self, motor : Motor) :
velocity_moving = motor.velocity_moving
for microstep_resolution in Motor.MICROSTEP_RESOLUTIONS :
motor.microstep_resolution = microstep_resolution
self.assertEqual(motor.microstep_resolution, microstep_resolution)
self.assertEqual(motor.velocity_moving, velocity_moving)
with self.assertRaises(ValueError) :
motor.microstep_resolution = 0
with self.assertRaises(ValueError) :
motor.microstep_resolution = 512
def test_acceleration_moving(self, motor : Motor) :
for microstep_resolution in Motor.MICROSTEP_RESOLUTIONS :
motor.microstep_resolution = microstep_resolution
velocity_minimum = motor.velocity_minimum
velocity_maximum = motor.velocity_maximum
velocity_range = velocity_maximum - velocity_minimum
for velocity_portion in range(1, 11) :
velocity = velocity_minimum + velocity_range * velocity_portion / 10
motor.velocity_moving = velocity
acceleration_minimum = motor.acceleration_minimum
acceleration_maximum = motor.acceleration_maximum
with self.assertRaises(ValueError) :
motor.acceleration_moving = math.nextafter(acceleration_minimum, -math.inf)
with self.assertRaises(ValueError) :
motor.acceleration_moving = math.nextafter(acceleration_maximum, +math.inf)
motor.acceleration_moving = acceleration_minimum
self.assertEqual(motor.acceleration_moving, acceleration_minimum)
motor.acceleration_moving = acceleration_maximum
self.assertEqual(motor.acceleration_moving, acceleration_maximum)
acceleration_range = acceleration_maximum - acceleration_minimum
for portion in range(1, 100) :
acceleration = acceleration_minimum + acceleration_range * portion / 100
motor.acceleration_moving = acceleration
error_absolute = motor.acceleration_moving - acceleration
error_relative = error_absolute / acceleration
self.assertLessEqual(error_relative, 0.0)
self.assertGreater(error_relative, -0.025)
def test_velocity_moving_extrema(self, motor : Motor) :
frequency_minimum = motor.module.motor_frequency_minimum
frequency_maximum = motor.module.motor_frequency_maximum
for microstep_resolution in Motor.MICROSTEP_RESOLUTIONS :
motor.microstep_resolution = microstep_resolution
velocity_minimum = frequency_minimum / microstep_resolution
velocity_maximum = frequency_maximum / microstep_resolution
self.assertEqual(motor.velocity_minimum, velocity_minimum)
self.assertEqual(motor.velocity_maximum, velocity_maximum)
def test_velocity_moving(self, motor : Motor) :
for microstep_resolution in Motor.MICROSTEP_RESOLUTIONS :
motor.microstep_resolution = microstep_resolution
velocity_minimum = motor.velocity_minimum
velocity_maximum = motor.velocity_maximum
with self.assertRaises(ValueError) :
motor.velocity_moving = math.nextafter(velocity_minimum, -math.inf)
with self.assertRaises(ValueError) :
motor.velocity_moving = math.nextafter(velocity_maximum, +math.inf)
motor.velocity_moving = velocity_minimum
self.assertEqual(motor.velocity_moving, velocity_minimum)
motor.velocity_moving = velocity_maximum
self.assertEqual(motor.velocity_moving, velocity_maximum)
velocity_range = velocity_maximum - velocity_minimum
for portion in range(1, 100) :
velocity = velocity_minimum + velocity_range * portion / 100
motor.velocity_moving = velocity
error_absolute = motor.velocity_moving - velocity
error_relative = error_absolute / velocity
self.assertLessEqual(error_relative, 0.0)
self.assertGreater(error_relative, -0.001)