test_motorVoltageInterface¶
- test_motorVoltageInterface.test_module(show_plots, voltage)[source]¶
Test Parameters
Three base voltages are tested where \(V_0\in(5.0,-7.5,0.0)\). The input voltages are then setup as
\[\begin{split}{\bf V}=V_0 \begin{bmatrix} 1\\ 1\\ 1 \end{bmatrix} + \begin{bmatrix} 0.0\\ 1.0\\ 1.5 \end{bmatrix}\end{split}\]Other inputs to the module are:
1testModule.voltage2TorqueGain =[ 1.32, 0.99, 1.31] # [Nm/V] conversion gain 2testModule.scaleFactor =[ 1.01, 1.00, 1.02] #[unitless] scale factor 3testModule.bias =[0.01, 0.02, 0.04] # [Nm] bias