message: Modified tolerances to work on different test rig
diff: @@ -176,7 +176,7 @@ class TestRegenProtection(TestClosedLoopControlBase):
  nominal_vel = float(enc_ctx.yaml['cpr']) * nominal_rps
  # Accept a bit of noise on Ibus
  - axis_ctx.parent.handle.config.dc_max_negative_current = -0.2
  + axis_ctx.parent.handle.config.dc_max_negative_current = -0.1
  logger.debug(f'Brake control test from {nominal_rps} rounds/s...')
  @@ -185,7 +185,6 @@ class TestRegenProtection(TestClosedLoopControlBase):
  axis_ctx.handle.controller.config.input_mode = INPUT_MODE_PASSTHROUGH
  request_state(axis_ctx, AXIS_STATE_CLOSED_LOOP_CONTROL)
  -
  # accelerate...
  axis_ctx.handle.controller.input_vel = nominal_vel
  time.sleep(1.0)
  @@ -198,7 +197,6 @@ class TestRegenProtection(TestClosedLoopControlBase):
  # once more, but this time without brake resistor
  axis_ctx.parent.handle.config.brake_resistance = 0
  -
  # accelerate...
  axis_ctx.handle.controller.input_vel = nominal_vel
  time.sleep(1.0)
  @@ -222,7 +220,7 @@ class TestVelLimitInCurrentControl(TestClosedLoopControlBase):
  max_rps = 20.0
  max_vel = float(enc_ctx.yaml['cpr']) * max_rps
  absolute_max_vel = max_vel * 1.2
  - max_current = 3.0
  + max_current = 10.0
  axis_ctx.handle.controller.config.vel_gain /= 10 # reduce the slope to make it easier to see what's going on
  vel_gain = axis_ctx.handle.controller.config.vel_gain
  