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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.
pull/100/head
Yuri D'Elia 2021-08-24 23:06:25 +02:00 committed by DRracer
parent 288e74283d
commit 1b0a67826a
1 changed files with 16 additions and 15 deletions
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31
tests/unit/modules/motion/test_motion.cpp
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@ -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]") {