Merge pull request #171 from neurobionics/dev

Merging velocity unit fix.
neurobionics · Nov 8, 2023 · 5953585 · 5953585
2 parents 001a68e + cbd1f54
commit 5953585
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/opensourceleg/hardware/actuators.py b/opensourceleg/hardware/actuators.py
@@ -719,7 +719,7 @@ def joint_encoder_counts(self) -> int:
     def motor_velocity(self) -> float:
         """Motor velocity in rad/s."""
         if self._data is not None:
-            return float(int(self._data.mot_vel) * RAD_PER_COUNT)
+            return int(self._data.mot_vel) * RAD_PER_DEG
         else:
             return 0.0
 

diff --git a/tests/test_actuators/test_dephyactpack.py b/tests/test_actuators/test_dephyactpack.py
@@ -351,7 +351,7 @@ def test_properties_nonzero(dephyactpack_patched: DephyActpack):
     assert mock_dap1.motor_position == 10 * 2 * np.pi / 16384
     assert mock_dap1.motor_encoder_counts == 10
     assert mock_dap1.joint_encoder_counts == 20
-    assert mock_dap1.motor_velocity == 10 * 2 * np.pi / 16384
+    assert mock_dap1.motor_velocity == 10 * np.pi / 180
     assert mock_dap1.motor_acceleration == 20
     assert mock_dap1.joint_position == 20 * 2 * np.pi / 16384
     assert mock_dap1.joint_velocity == 10 * 2 * np.pi / 16384

diff --git a/tests/test_joints/test_joint.py b/tests/test_joints/test_joint.py
@@ -540,5 +540,5 @@ def test_mockjoint_nondefaultproperties(joint_patched):
     assert jp2.is_homed == True
     assert jp2.encoder_map == None
     assert jp2.output_position == 20 * 2 * np.pi / 16384 / 50
-    assert jp2.output_velocity == 10 * 2 * np.pi / 16384 / 50
+    assert jp2.output_velocity == 10 * np.pi / 180 / 50
     assert jp2.joint_torque == 20 * 0.1133 / 1000 * 50