TUM-Aries-Lab / motor-module / 35335427412
74%

DEFAULT BRANCH: main
Ran
Jobs 1
Files 13
Run time 1min
Badge
Embed ▾
README BADGES
x

If you need to use a raster PNG badge, change the '.svg' to '.png' in the link

Markdown

Textile

RDoc

HTML

Rst
coverage: 72.613%. Remained the same
35335427412

push

github

NGierden 
Verify set_velocity() at the gain set_velocity() actually uses

--velocity-kd defaulted to CAN_DEFAULTS.mit_velocity_kd, which is 0.2. The
library never uses that value: set_velocity() runs at the motor profile's
mit_velocity_kd, 1.2 for the AK60-6 V3.0 and 1.0 for the AK80-6. So the script
whose stated purpose is bench verification of set_velocity() was, by default,
verifying a configuration that never ships -- a clean report could coexist
with the suit behaving differently, at five to six times the damping.

The flag now defaults to None, which the motor constructor already reads as
"use this motor's profile value", so the default tracks --motor-model without
anyone having to remember a flag. Passing a value still overrides, which is
what the flag was added for; 0.2 remains available as --velocity-kd 0.2.

Resolving it once in main() also fixes a smaller inconsistency: the header
printed args.velocity_kd, so a run that relied on any default logged a number
the phases did not necessarily use. Header, constructor and phase commands now
all report and use the same resolved value.

Deliberately unchanged: the hard-coded kd=2.0 on the zero-ERPM branch of
_command_phase(). That is a hold between phases rather than the motion under
test, and a firmer hold there may well be intended -- but it ignores the flag
while its sibling rad/s branch honours it, so it is worth a look separately.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>

1498 of 2063 relevant lines covered (72.61%)

0.73 hits per line

Jobs
ID Job ID Ran Files Coverage
1 35335427412.1 13
72.61
GitHub Action Run
Source Files on build 35335427412