qing
bba7ee3eb4
- parser: FSM 解析器与仓颉版逐语义对齐，修 S01/S02/S04/Q05 - robot/hardvars: 六类硬件变量工厂，修 r.cj:911 重名 FIXME、Q07 倒序释放 - plugin: Python 插件替代 Lua 桥接，修 S07 三级路径查找 - hd: i2c(每fd锁 Q03/S06)/spi/servo/kalman/mpu6050(S05/Q06)/speaker(S03 实声) - modules: PCA9685 与 Lua 版逐字节对齐；ADS1115 重写(experimental)；ADS1256 空桩 - tests: 42 项 pytest 全绿（Mock 总线 journal 断言） - CLI: --dry-run / --test roundtrip / --verbose；运行时零第三方依赖
48 lines
1.1 KiB
Python
48 lines
1.1 KiB
Python
"""Servo 校准算法测试：正装/反装/漂移/钳位（与 Servo.cj 语义逐项对齐）"""
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from pybot.hd.servo import Servo
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def make(max_a, min_a, offset):
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sent = []
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servo = Servo(max_a, min_a, offset, sent.append)
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return servo, sent
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def test_normal_install():
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servo, sent = make(90.0, 0.0, 0.0)
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servo.set_angle(45.0)
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assert sent == [45.0]
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def test_clamp_max():
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servo, sent = make(90.0, 0.0, 0.0)
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servo.set_angle(120.0)
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assert sent == [90.0]
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def test_clamp_min():
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servo, sent = make(180.0, 30.0, 0.0)
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servo.set_angle(10.0)
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assert sent == [30.0]
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def test_offset():
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servo, sent = make(180.0, 0.0, 5.0)
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servo.set_angle(40.0)
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assert sent == [45.0]
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def test_inverted_install():
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"""负 max 表示反装：a = 180 - a（std.mt 的 s3 max=-90，45° → 135°）"""
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servo, sent = make(-90.0, 0.0, 0.0)
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servo.set_angle(45.0)
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assert sent == [180.0 - 45.0]
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def test_inverted_clamp_uses_abs():
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"""反装钳位用 |max|：-90 装机 100° → 钳到 90 → 翻转 90"""
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servo, sent = make(-90.0, 0.0, 0.0)
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servo.set_angle(100.0)
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assert sent == [90.0]
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