From 1b0a67826a207d8ca3dd3b45a4ab8c05b0014dcc Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Tue, 24 Aug 2021 23:06:25 +0200
Subject: [PATCH] Improve motion::unit tests to handle fractional scaling

Pulley doesn't result in an exact step count due to the fractional
count.result in an exact step count due to the fractional count.

Use Selector instead to test values exacly.

Still check Pulley and Idler, but allowing for a +/-1 step of rounding
error.
---
 tests/unit/modules/motion/test_motion.cpp | 31 ++++++++++++-----------
 1 file changed, 16 insertions(+), 15 deletions(-)

diff --git a/tests/unit/modules/motion/test_motion.cpp b/tests/unit/modules/motion/test_motion.cpp
index 1d4cbd8..03c98ce 100644
--- a/tests/unit/modules/motion/test_motion.cpp
+++ b/tests/unit/modules/motion/test_motion.cpp
@@ -73,42 +73,43 @@ TEST_CASE("motion::auto_axis_enable", "[motion]") {
 
 TEST_CASE("motion::unit", "[motion]") {
     // test AxisUnit conversion in the PlanMove and PlanMoveTo.
+    // Use Selector explicitly, as it has an exact unit/step conversion.
     REQUIRE(motion.QueueEmpty());
-    REQUIRE(motion.Position(Pulley) == 0);
+    REQUIRE(motion.Position(Selector) == 0);
 
     // move with AxisUnit
-    pos_t target = config::pulley.stepsPerUnit * 10;
-    motion.PlanMoveTo<Pulley>(10.0_P_mm, 100.0_P_mm_s);
+    pos_t target = config::selector.stepsPerUnit * 10;
+    motion.PlanMoveTo<Selector>(10.0_S_mm, 100.0_S_mm_s);
     CHECK(stepUntilDone());
-    REQUIRE(motion.Position(Pulley) == target);
+    REQUIRE(motion.Position(Selector) == target);
 
     // move directly with physical units
-    motion.PlanMoveTo<Pulley>(10.0_mm, 100.0_mm_s);
+    motion.PlanMoveTo<Selector>(10.0_mm, 100.0_mm_s);
     REQUIRE(stepUntilDone() == 0);
-    REQUIRE(motion.Position(Pulley) == target);
+    REQUIRE(motion.Position(Selector) == target);
 
     // relative move with AxisUnit
-    motion.PlanMove<Pulley>(-5.0_P_mm, 100.0_P_mm_s);
+    motion.PlanMove<Selector>(-5.0_S_mm, 100.0_S_mm_s);
     CHECK(stepUntilDone());
-    REQUIRE(motion.Position(Pulley) == target / 2);
+    REQUIRE(motion.Position(Selector) == target / 2);
 
     // relative move with physical unit
-    motion.PlanMove<Pulley>(-5.0_mm, 100.0_mm_s);
+    motion.PlanMove<Selector>(-5.0_mm, 100.0_mm_s);
     CHECK(stepUntilDone());
-    REQUIRE(motion.Position(Pulley) == 0);
+    REQUIRE(motion.Position(Selector) == 0);
 
     // now test remaining axes
-    target = config::selector.stepsPerUnit * 10;
-    motion.PlanMoveTo<Selector>(10.0_S_mm, 100.0_S_mm_s);
-    motion.PlanMove<Selector>(10.0_mm, 100.0_mm_s);
+    target = config::pulley.stepsPerUnit * 10;
+    motion.PlanMoveTo<Pulley>(10.0_P_mm, 100.0_P_mm_s);
+    motion.PlanMove<Pulley>(10.0_mm, 100.0_mm_s);
     CHECK(stepUntilDone());
-    REQUIRE(motion.Position(Selector) == target * 2);
+    REQUIRE(abs(motion.Position(Pulley) - target * 2) <= 1);
 
     target = config::idler.stepsPerUnit * 10;
     motion.PlanMoveTo<Idler>(10.0_I_deg, 100.0_I_deg_s);
     motion.PlanMove<Idler>(10.0_deg, 100.0_deg_s);
     CHECK(stepUntilDone());
-    REQUIRE(motion.Position(Idler) == target * 2);
+    REQUIRE(abs(motion.Position(Idler) - target * 2) <= 1);
 }
 
 TEST_CASE("motion::dual_move_fwd", "[motion]") {