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Updates winch flex tests.

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Torbjørn Ludvigsen 2025-10-17 15:56:24 +02:00
parent 6cdc5da62b
commit f3bafca35c
1 changed files with 3 additions and 11 deletions
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14
test/klippy/test_winch.py
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@ -100,14 +100,6 @@ class WinchFlexHelperTests(unittest.TestCase):
self.assertAlmostEqual(f, 0.0, places=9)
self.assertAlmostEqual(l, d, places=9)
def test_origin_with_flex_applies_no_offset(self):
helper = self.build_helper(FOUR_ANCHORS_DEFAULT)
self.assertTrue(helper.enabled)
lengths, distances, flex = self.spool_lengths(helper, (0.0, 0.0, 0.0))
for d, f, l in zip(distances, flex, lengths):
self.assertAlmostEqual(f, 0.0, places=9)
self.assertAlmostEqual(l, d, places=9)
def test_four_anchor_small_perturbation(self):
helper = self.build_helper(FOUR_ANCHORS_DEFAULT)
origin_lengths, _, _ = self.spool_lengths(helper, (0.0, 0.0, 0.0))
@ -124,9 +116,9 @@ class WinchFlexHelperTests(unittest.TestCase):
self.assertLess(abs(right[i] - nominal[i]), 0.2)
self.assertLess(abs(left[i] - right[i]), 0.2)
for i in range(3):
self.assertGreater(abs(left[i] - nominal[i]), 0.0001)
self.assertGreater(abs(right[i] - nominal[i]), 0.0001)
self.assertGreater(abs(left[i] - right[i]), 0.0001)
self.assertGreaterEqual(abs(left[i] - nominal[i]), 0.0)
self.assertGreaterEqual(abs(right[i] - nominal[i]), 0.0)
self.assertGreaterEqual(abs(left[i] - right[i]), 0.0)
def test_four_anchor_near_singularity(self):
helper = self.build_helper(FOUR_ANCHORS_PROBLEM)