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Add a load more backlash corrected move test cases.

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This commit is contained in:
Julian Stirling 2026-02-24 17:17:28 +00:00
parent c2b784e606
commit c12814f0eb
1 changed files with 158 additions and 2 deletions
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160
tests/unit_tests/test_stage.py
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@ -362,7 +362,9 @@ class BacklashMoveTestCase:
if self.relative:
return self.movement
return {ax: self.movement[ax] - self.position[ax] for ax in self.position}
return {
ax: self.movement.get(ax, pos) - pos for ax, pos in self.position.items()
}
def validate(self):
"""Check that the total movement in the result is the relative movement requested."""
@ -372,7 +374,7 @@ class BacklashMoveTestCase:
BACKLASH_TEST_MOVEMENTS = [
# Simple test case moving 1 step in x against backlash direction
# Moving 1 step in x against preferred movement direction
BacklashMoveTestCase(
position={"x": 0, "y": 0, "z": 0},
backlash_state={"x": 0, "y": 0, "z": 0},
@ -383,6 +385,160 @@ BACKLASH_TEST_MOVEMENTS = [
# There are 2 moves as it is against the direction
result=[{"x": -201, "y": 0, "z": 0}, {"x": 200, "y": 0, "z": 0}],
),
# Moving 1 step in the preferred movement direction
BacklashMoveTestCase(
position={"x": 0, "y": 0, "z": 0},
backlash_state={"x": 0, "y": 0, "z": 0},
backlash_steps={"x": 200, "y": 200, "z": 200},
movement={"x": 1, "y": 0, "z": 0},
relative=True,
backlash_compensation=BacklashCompensation.MOVEMENT_AXES,
# There are 2 moves as 1 step doesn't move the backlash state to engaged.
result=[{"x": -199, "y": 0, "z": 0}, {"x": 200, "y": 0, "z": 0}],
),
# Moving 1 step in the preferred movement direction (already engaged)
BacklashMoveTestCase(
position={"x": 0, "y": 0, "z": 0},
backlash_state={"x": 1, "y": 0, "z": 0},
backlash_steps={"x": 200, "y": 200, "z": 200},
movement={"x": 1, "y": 0, "z": 0},
relative=True,
backlash_compensation=BacklashCompensation.MOVEMENT_AXES,
# Already engaged
result=[{"x": 1, "y": 0, "z": 0}],
),
# Moving 100 steps in the preferred movement direction partially engaged
BacklashMoveTestCase(
position={"x": 0, "y": 0, "z": 0},
backlash_state={"x": 0.7, "y": 0, "z": 0},
backlash_steps={"x": 200, "y": 200, "z": 200},
movement={"x": 100, "y": 0, "z": 0},
relative=True,
backlash_compensation=BacklashCompensation.MOVEMENT_AXES,
# Already 70% to engaged 100 steps creates engagement
result=[{"x": 100, "y": 0, "z": 0}],
),
# Moving 100 steps in the preferred movement direction partially engaged (again)
BacklashMoveTestCase(
position={"x": 0, "y": 0, "z": 0},
backlash_state={"x": 0.3, "y": 0, "z": 0},
backlash_steps={"x": 200, "y": 200, "z": 200},
movement={"x": 100, "y": 0, "z": 0},
relative=True,
backlash_compensation=BacklashCompensation.MOVEMENT_AXES,
# Only 30% to engaged 100 steps doesn't engage, so 2 moves
result=[{"x": -100, "y": 0, "z": 0}, {"x": 200, "y": 0, "z": 0}],
),
## Absolute move versions of the same tests
# Moving 1 step in x against preferred movement direction
BacklashMoveTestCase(
position={"x": 123, "y": 456, "z": 789},
backlash_state={"x": 0, "y": 0, "z": 0},
backlash_steps={"x": 200, "y": 200, "z": 200},
movement={"x": 122},
relative=False,
backlash_compensation=BacklashCompensation.MOVEMENT_AXES,
# There are 2 moves as it is against the direction
result=[{"x": -201, "y": 0, "z": 0}, {"x": 200, "y": 0, "z": 0}],
),
# Moving 1 step in the preferred movement direction
BacklashMoveTestCase(
position={"x": 123, "y": 456, "z": 789},
backlash_state={"x": 0, "y": 0, "z": 0},
backlash_steps={"x": 200, "y": 200, "z": 200},
movement={"x": 124},
relative=False,
backlash_compensation=BacklashCompensation.MOVEMENT_AXES,
# There are 2 moves as 1 step doesn't move the backlash state to engaged.
result=[{"x": -199, "y": 0, "z": 0}, {"x": 200, "y": 0, "z": 0}],
),
# Moving 1 step in the preferred movement direction (already engaged)
BacklashMoveTestCase(
position={"x": 123, "y": 456, "z": 789},
backlash_state={"x": 1, "y": 0, "z": 0},
backlash_steps={"x": 200, "y": 200, "z": 200},
movement={"x": 124},
relative=False,
backlash_compensation=BacklashCompensation.MOVEMENT_AXES,
# Already engaged
result=[{"x": 1, "y": 0, "z": 0}],
),
# Moving 100 steps in the preferred movement direction partially engaged
BacklashMoveTestCase(
position={"x": 123, "y": 456, "z": 789},
backlash_state={"x": 0.7, "y": 0, "z": 0},
backlash_steps={"x": 200, "y": 200, "z": 200},
movement={"x": 223},
relative=False,
backlash_compensation=BacklashCompensation.MOVEMENT_AXES,
# Already 70% to engaged 100 steps creates engagement
result=[{"x": 100, "y": 0, "z": 0}],
),
# Moving 100 steps in the preferred movement direction partially engaged (again)
BacklashMoveTestCase(
position={"x": 123, "y": 456, "z": 789},
backlash_state={"x": 0.3, "y": 0, "z": 0},
backlash_steps={"x": 200, "y": 200, "z": 200},
movement={"x": 223},
relative=False,
backlash_compensation=BacklashCompensation.MOVEMENT_AXES,
# Only 30% to engaged 100 steps doesn't engage, so 2 moves
result=[{"x": -100, "y": 0, "z": 0}, {"x": 200, "y": 0, "z": 0}],
),
## Checking axes correct even when not moving if asked to
BacklashMoveTestCase(
position={"x": 0, "y": 0, "z": 0},
backlash_state={"x": 0, "y": 0, "z": 0},
backlash_steps={"x": 200, "y": 200, "z": 200},
movement={"x": 0, "y": 0, "z": 0},
relative=True,
backlash_compensation=BacklashCompensation.ALL_AXES,
# All move forward and back
result=[{"x": -200, "y": -200, "z": -200}, {"x": 200, "y": 200, "z": 200}],
),
BacklashMoveTestCase(
position={"x": 0, "y": 0, "z": 0},
backlash_state={"x": 0, "y": 0, "z": 0},
backlash_steps={"x": 200, "y": 200, "z": 200},
movement={"x": 0, "y": 0, "z": 0},
relative=True,
backlash_compensation=BacklashCompensation.XY_ONLY,
# x and y correct
result=[{"x": -200, "y": -200, "z": 0}, {"x": 200, "y": 200, "z": 0}],
),
BacklashMoveTestCase(
position={"x": 0, "y": 0, "z": 0},
backlash_state={"x": 0, "y": 0, "z": 0},
backlash_steps={"x": 200, "y": 200, "z": 200},
movement={"x": 0, "y": 0, "z": 0},
relative=True,
backlash_compensation=BacklashCompensation.Z_ONLY,
# z corrects
result=[{"x": 0, "y": 0, "z": -200}, {"x": 0, "y": 0, "z": 200}],
),
## Checking reversed backlash directions (on y)
# In preferred direction
BacklashMoveTestCase(
position={"x": 0, "y": 0, "z": 0},
backlash_state={"x": 0, "y": 0, "z": 0},
backlash_steps={"x": 200, "y": -150, "z": 200},
movement={"x": 0, "y": -300, "z": 0},
relative=True,
backlash_compensation=BacklashCompensation.MOVEMENT_AXES,
# Only 1 move as preferred direction
result=[{"x": 0, "y": -300, "z": 0}],
),
# against preferred direction
BacklashMoveTestCase(
position={"x": 0, "y": 0, "z": 0},
backlash_state={"x": 0, "y": 0, "z": 0},
backlash_steps={"x": 200, "y": -150, "z": 200},
movement={"x": 0, "y": 300, "z": 0},
relative=True,
backlash_compensation=BacklashCompensation.MOVEMENT_AXES,
# 2 moves as against preferred direction
result=[{"x": 0, "y": 450, "z": 0}, {"x": 0, "y": -150, "z": 0}],
),
]