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add E axis

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This commit is contained in:
Nikolay Khabarov
2017-05-27 18:47:01 +03:00
parent 665ba2ad1e
commit a87e2a379b
11 changed files with 238 additions and 147 deletions
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tests/test_pulses.py
+28 -17
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@@ -18,90 +18,101 @@ class TestPulses(unittest.TestCase):
# PulseGenerator should never receive empty movement.
self.assertRaises(ZeroDivisionError,
PulseGeneratorLinear,
Coordinates(0, 0, 0), self.v)
Coordinates(0, 0, 0, 0), self.v)
def test_step(self):
# Check if PulseGenerator returns correctly single step movement.
g = PulseGeneratorLinear(Coordinates(1.0 / STEPPER_PULSES_PER_MM_X, 0, 0),
g = PulseGeneratorLinear(Coordinates(1.0 / STEPPER_PULSES_PER_MM_X,
0, 0, 0),
self.v)
i = 0
for px, py, pz in g:
for px, py, pz, pe in g:
i += 1
self.assertEqual(px, 0)
self.assertEqual(py, None)
self.assertEqual(pz, None)
self.assertEqual(pe, None)
self.assertEqual(i, 1)
g = PulseGeneratorLinear(Coordinates(
1.0 / STEPPER_PULSES_PER_MM_X,
1.0 / STEPPER_PULSES_PER_MM_Y,
1.0 / STEPPER_PULSES_PER_MM_Z),
1.0 / STEPPER_PULSES_PER_MM_Z,
1.0 / STEPPER_PULSES_PER_MM_E),
self.v)
i = 0
for px, py, pz in g:
for px, py, pz, pe in g:
i += 1
self.assertEqual(px, 0)
self.assertEqual(py, 0)
self.assertEqual(pz, 0)
self.assertEqual(pe, 0)
self.assertEqual(i, 1)
def test_linear_with_hal_virtual(self):
# Using hal_virtual module for this test, it already contains plenty
# of asserts for wrong number of pulses, pulse timing issues etc
hal_virtual.move_linear(Coordinates(1, 0, 0), self.v)
hal_virtual.move_linear(Coordinates(25.4, 0, 0), self.v)
hal_virtual.move_linear(Coordinates(25.4, 0, 0), self.v)
hal_virtual.move_linear(Coordinates(25.4, 0, 0), self.v)
hal_virtual.move_linear(Coordinates(1, 0, 0, 0), self.v)
hal_virtual.move_linear(Coordinates(25.4, 0, 0, 0), self.v)
hal_virtual.move_linear(Coordinates(25.4, 0, 0, 0), self.v)
hal_virtual.move_linear(Coordinates(25.4, 0, 0, 0), self.v)
hal_virtual.move_linear(Coordinates(TABLE_SIZE_X_MM,
TABLE_SIZE_Y_MM,
TABLE_SIZE_Z_MM), self.v)
TABLE_SIZE_Z_MM,
100.0), self.v)
def test_twice_faster(self):
# Checks if one axis moves exactly twice faster, pulses are correct.
m = Coordinates(2, 4, 0)
m = Coordinates(2, 4, 0, 0)
g = PulseGeneratorLinear(m, self.v)
i = 0
for px, py, pz in g:
for px, py, pz, pe in g:
if i % 2 == 0:
self.assertNotEqual(px, None)
else:
self.assertEqual(px, None)
self.assertNotEqual(py, None)
self.assertEqual(pz, None)
self.assertEqual(pe, None)
i += 1
self.assertEqual(m.find_max() * STEPPER_PULSES_PER_MM_Y, i)
def test_pulses_count_and_timings(self):
# Check if number of pulses is equal to specified distance.
m = Coordinates(TABLE_SIZE_X_MM, TABLE_SIZE_Y_MM, TABLE_SIZE_Z_MM)
m = Coordinates(TABLE_SIZE_X_MM, TABLE_SIZE_Y_MM, TABLE_SIZE_Z_MM,
100.0)
g = PulseGeneratorLinear(m, self.v)
ix = 0
iy = 0
iz = 0
ie = 0
t = -1
for px, py, pz in g:
for px, py, pz, pe in g:
if px is not None:
ix += 1
if py is not None:
iy += 1
if pz is not None:
iz += 1
v = list(x for x in (px, py, pz) if x is not None)
if pe is not None:
ie += 1
v = list(x for x in (px, py, pz, pe) if x is not None)
self.assertEqual(min(v), max(v))
self.assertLess(t, min(v))
t = max(v)
self.assertEqual(m.x * STEPPER_PULSES_PER_MM_X, ix)
self.assertEqual(m.y * STEPPER_PULSES_PER_MM_Y, iy)
self.assertEqual(m.z * STEPPER_PULSES_PER_MM_Z, iz)
self.assertEqual(m.e * STEPPER_PULSES_PER_MM_E, ie)
self.assertLessEqual(t, g.total_time_s())
def test_acceleration_velocity(self):
# Check if acceleration present in pulses sequence and if velocity
# is correct
m = Coordinates(TABLE_SIZE_X_MM, 0, 0)
m = Coordinates(TABLE_SIZE_X_MM, 0, 0, 0)
g = PulseGeneratorLinear(m, self.v)
i = 0
lx = 0
for px, py, pz in g:
for px, py, pz, pe in g:
if i == 2:
at = px - lx
if i == TABLE_SIZE_X_MM * STEPPER_PULSES_PER_MM_X / 2: