message: Raised current limit from 10A to 15A for regen test. Previously, a motor overcurrent error was triggered ~50% of the time during the braking test.
diff: @@ -172,15 +172,17 @@ class TestRegenProtection(TestClosedLoopControlBase):
  def run_test(self, axis_ctx: ODriveAxisComponent, motor_ctx: MotorComponent, enc_ctx: EncoderComponent, logger: Logger):
  with self.prepare(axis_ctx, motor_ctx, enc_ctx, logger):
  - nominal_rps = 6.0
  + nominal_rps = 10.0
  nominal_vel = float(enc_ctx.yaml['cpr']) * nominal_rps
  + max_current = 15.0
  # Accept a bit of noise on Ibus
  - axis_ctx.parent.handle.config.dc_max_negative_current = -0.1
  + axis_ctx.parent.handle.config.dc_max_negative_current = -0.2
  logger.debug(f'Brake control test from {nominal_rps} rounds/s...')
  - axis_ctx.handle.controller.config.vel_limit = float(enc_ctx.yaml['cpr']) * 10.0 # max 10 rps
  + axis_ctx.handle.controller.config.vel_limit = float(enc_ctx.yaml['cpr']) * 15.0 # max 15 rps
  + axis_ctx.handle.motor.config.current_lim = max_current
  axis_ctx.handle.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
  axis_ctx.handle.controller.config.input_mode = INPUT_MODE_PASSTHROUGH
  