update simple test for compatibility with M5

tinymovr · Apr 26, 2024 · 69638a3 · 69638a3
1 parent 0abc02a
commit 69638a3
Showing 1 changed file with 9 additions and 2 deletions.
diff --git a/studio/Python/tests/test_base_function.py b/studio/Python/tests/test_base_function.py
@@ -21,16 +21,23 @@ def test_position_control(self):
         """
         Test position control
         """
+        hw_rev = self.tm.hw_revision
         self.check_state(0)
-        self.tm.motor.I_cal = 5
+        if hw_rev > 20:
+            self.tm.motor.I_cal = 0.8
+        else:
+            self.tm.motor.I_cal = 5
         self.tm.controller.current.Iq_limit = 5
         self.try_calibrate()
         self.tm.controller.position_mode()
         self.check_state(2)
 
         for i in range(5):
             self.tm.controller.position.setpoint = i * 3000 * ticks
-            time.sleep(0.25)
+            if hw_rev > 20:
+                time.sleep(0.50)
+            else:
+                time.sleep(0.25)
             self.assertAlmostEqual(
                 i * 3000 * ticks, self.tm.sensors.user_frame.position_estimate, delta=1000 * ticks
             )