def test_make_position_empty(self):
dut = mot.Controller()
result = dut.make_position()
self.assertEqual(result.data, bytes([0x01, 0x00, 0x0a]))
self.assertEqual(result.destination, 1)
self.assertEqual(result.source, 0)
self.assertEqual(result.reply_required, False)
def test_make_position(self):
dut = mot.Controller()
result = dut.make_position(
position=math.nan,
velocity=2.0,
maximum_torque=2.0,
stop_position=0.0,
feedforward_torque=-.3,
watchdog_timeout=0.0)
self.assertEqual(result.data, bytes([
0x01, 0x00, 0x0a,
0x0f, 0x20,
0x00, 0x00, 0xc0, 0x7f,
0x00, 0x00, 0x00, 0x40,
0x9a, 0x99, 0x99, 0xbe,
0x0f, 0x25,
0x00, 0x00, 0x00, 0x40,
0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00,
]))
result = dut.make_position(
position=math.nan, velocity=1, maximum_torque=0.0, stop_position=0.15)
self.assertEqual(result.data, bytes([
0x01, 0x00, 0x0a,
0x0e, 0x20,
0x00, 0x00, 0xc0, 0x7f,
0x00, 0x00, 0x80, 0x3f,
0x0e, 0x25,
0x00, 0x00, 0x00, 0x00,
0x9a, 0x99, 0x19, 0x3e,
]))
def test_make_current(self):
dut = mot.Controller()
result = dut.make_current(d_A = 1.0, q_A = 2.0)
self.assertEqual(
result.data,
bytes([0x01, 0x00, 0x09,
0x0e, 0x1c,
0x00, 0x00, 0x00, 0x40,
0x00, 0x00, 0x80, 0x3f,
]))
def test_make_diagnostic_read(self):
dut = mot.Controller()
result = dut.make_diagnostic_read()
self.assertEqual(result.data, bytes([0x42, 0x01, 0x30]))
self.assertEqual(result.reply_required, True)
parsed = result.parse(CanMessage())
self.assertEqual(parsed.id, 1)
self.assertEqual(parsed.data, None)
parsed = result.parse(
CanMessage(data=bytes([0x41, 0x01, 0x04, 0x44, 0x45, 0x46, 0x47])))
self.assertEqual(parsed.id, 1)
self.assertEqual(parsed.data, b'DEFG')
def test_make_query(self):
qr = mot.QueryResolution()
qr._extra = {
0x030: mot.mp.F32,
0x031: mot.mp.F32,
0x032: mot.mp.F32,
0x033: mot.mp.F32,
}
dut = mot.Controller(query_resolution=qr)
result = dut.make_query()
self.assertEqual(
result.data,
bytes([0x11, 0x00, 0x1f, 0x01, 0x13, 0x0d, 0x1c, 0x04, 0x30]))
self.assertEqual(result.reply_required, True)
def test_make_position_query(self):
dut = mot.Controller()
result = dut.make_position(query=True)
self.assertEqual(
result.data,
bytes([0x01, 0x00, 0x0a, 0x11, 0x00, 0x1f, 0x01, 0x13, 0x0d]))
self.assertEqual(result.reply_required, True)
parsed = result.parse(CanMessage())
self.assertEqual(parsed.id, 1)
self.assertEqual(len(parsed.values), 0)
parsed = result.parse(
CanMessage(data=bytes([
0x24,
0x04,
0x00,
0x0a,
0x00, # mode
0x10,
0x02, # position
0x00,
0xfe, # velocity
0x20,
0x00, # torque
0x23,
0x0d,
0x20, # voltage
0x30, # temperature
0x40, # fault
])))
self.assertEqual(parsed.values, {
0: 10,
1: 0.0528,
2: -0.128,
3: 0.32,
13: 16.0,
14: 48.0,
15: 64,
})
self.assertEqual(
repr(parsed),
'1/{MODE(0x000): 10, POSITION(0x001): 0.0528, VELOCITY(0x002): -0.128, TORQUE(0x003): 0.32, VOLTAGE(0x00d): 16.0, TEMPERATURE(0x00e): 48.0, FAULT(0x00f): 64}'
)