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Fix feetech test_is_calibrated

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This commit is contained in:
Simon Alibert
2025-05-23 11:46:26 +02:00
parent cedaa83bce
commit ddca6765b8
1 changed files with 23 additions and 11 deletions
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34
tests/motors/test_feetech.py
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@@ -316,14 +316,26 @@ def test__sync_write(addr, length, ids_values, mock_motors, dummy_motors):
def test_is_calibrated(mock_motors, dummy_motors, dummy_calibration):
encoded_homings = {m.id: encode_sign_magnitude(m.homing_offset, 11) for m in dummy_calibration.values()}
mins = {m.id: m.range_min for m in dummy_calibration.values()}
maxes = {m.id: m.range_max for m in dummy_calibration.values()}
offsets_stub = mock_motors.build_sync_read_stub(
*STS_SMS_SERIES_CONTROL_TABLE["Homing_Offset"], encoded_homings
)
mins_stub = mock_motors.build_sync_read_stub(*STS_SMS_SERIES_CONTROL_TABLE["Min_Position_Limit"], mins)
maxes_stub = mock_motors.build_sync_read_stub(*STS_SMS_SERIES_CONTROL_TABLE["Max_Position_Limit"], maxes)
mins_stubs, maxes_stubs, homings_stubs = [], [], []
for cal in dummy_calibration.values():
mins_stubs.append(
mock_motors.build_read_stub(
*STS_SMS_SERIES_CONTROL_TABLE["Min_Position_Limit"], cal.id, cal.range_min
)
)
maxes_stubs.append(
mock_motors.build_read_stub(
*STS_SMS_SERIES_CONTROL_TABLE["Max_Position_Limit"], cal.id, cal.range_max
)
)
homings_stubs.append(
mock_motors.build_read_stub(
*STS_SMS_SERIES_CONTROL_TABLE["Homing_Offset"],
cal.id,
encode_sign_magnitude(cal.homing_offset, 11),
)
)
bus = FeetechMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
@@ -334,9 +346,9 @@ def test_is_calibrated(mock_motors, dummy_motors, dummy_calibration):
is_calibrated = bus.is_calibrated
assert is_calibrated
assert mock_motors.stubs[offsets_stub].called
assert mock_motors.stubs[mins_stub].called
assert mock_motors.stubs[maxes_stub].called
assert all(mock_motors.stubs[stub].called for stub in mins_stubs)
assert all(mock_motors.stubs[stub].called for stub in maxes_stubs)
assert all(mock_motors.stubs[stub].called for stub in homings_stubs)
def test_reset_calibration(mock_motors, dummy_motors):