feat: Fix unit tests

tests/test_calibration.py

@@ -58,6 +58,12 @@ def test_convert_value_1():
             self.discontinuity_offset = discontinuity_offset
             self.sign = 1
 
+        def direction_normalize_value(self, value):
+            return self.sign * value % self.ticks_max
+
+        def monotonize_value(self, value):
+            return (value + self.discontinuity_offset) % self.ticks_max
+
     y = util.convert_value(raw_value=0, joint=TestJoint(), zero_offset=0)
     assert y < 0.001
 
@@ -163,7 +169,7 @@ def test_calibration_armar_de_sho1_l():
         name="Sho1_L",
         measured_limits_ticks=(zero + 1000, zero - 1000),
         measured_zero_ticks=zero,
-        discontinuity_offset="0",
+        discontinuity_offset="300000",
         joint_offset_degree=15,
         joint_limits_degree="limitless",
         method="zero_alignment",
@@ -176,8 +182,17 @@ def test_calibration_armar_de_sho1_l():
         "zero_offset": zero_offset
     }
 
+    ticks_per_segment = joint.ticks_max / joint.encoder_mount_possibilities
+    for i in range(0, joint.encoder_mount_possibilities + 1):
+        tick_at_segment = round(
+            i * ticks_per_segment + util.degree_to_ticks(joint.joint_offset_degree, joint.ticks_max))
+
+        res = util.convert_value(raw_value=tick_at_segment, **cvt_args)
+        print(f"For {tick_at_segment}: {util.rad_to_degree(res)}° / {res} rad")
+
     cvt_rad = util.convert_value(raw_value=lo_90, **cvt_args)
-    assert abs(cvt_rad - util.degree_to_rad(-90)) < UNALIGNED_VISUAL_ESTIMATE_PRECISION
+    assert abs(cvt_rad - util.degree_to_rad(-90)) < UNALIGNED_VISUAL_ESTIMATE_PRECISION, \
+        f"Calculated value is {cvt_rad} rad, expected {util.degree_to_rad(-90)} rad."
 
     cvt_rad = util.convert_value(raw_value=zero, **cvt_args)
     assert abs(cvt_rad - util.degree_to_rad(0)) < VISUAL_ESTIMATE_PRECISION
@@ -186,7 +201,9 @@ def test_calibration_armar_de_sho1_l():
     assert abs(cvt_rad - util.degree_to_rad(90)) < UNALIGNED_VISUAL_ESTIMATE_PRECISION
 
     cvt_rad = util.convert_value(raw_value=zero_180, **cvt_args)
-    assert abs(cvt_rad - util.degree_to_rad(180)) < util.degree_to_rad(6)  # TODO: Why imprecise?
+    # TODO: Why imprecise?
+    assert abs(cvt_rad - util.degree_to_rad(-180)) < util.degree_to_rad(6), \
+        f"Calculated value is {cvt_rad} rad, expected {util.degree_to_rad(180)} rad."
 
 
 def test_calibration_armar_de_sho2_l():
@@ -235,7 +252,7 @@ def test_calibration_armar_de_sho3_l():
         name="Sho3_L",
         measured_limits_ticks=(zero + 1000, zero - 1000),
         measured_zero_ticks=zero,
-        discontinuity_offset="0",
+        discontinuity_offset="705000",
         joint_offset_degree=15,
         joint_limits_degree="limitless",
         method="zero_alignment",
@@ -255,10 +272,11 @@ def test_calibration_armar_de_sho3_l():
     assert abs(cvt_rad - util.degree_to_rad(0)) < VISUAL_ESTIMATE_PRECISION
 
     cvt_rad = util.convert_value(raw_value=hi_90, **cvt_args)
-    assert abs(cvt_rad - util.degree_to_rad(90)) < UNALIGNED_VISUAL_ESTIMATE_PRECISION
+    assert abs(cvt_rad - util.degree_to_rad(90)) < UNALIGNED_VISUAL_ESTIMATE_PRECISION, \
+        f"Calculated value is {cvt_rad} rad, expected {util.degree_to_rad(180)} rad."
 
     cvt_rad = util.convert_value(raw_value=zero_180, **cvt_args)
-    assert abs(cvt_rad - util.degree_to_rad(180)) < util.degree_to_rad(6)  # TODO: Why imprecise?
+    assert abs(cvt_rad - util.degree_to_rad(-180)) < UNALIGNED_VISUAL_ESTIMATE_PRECISION
 
 
 def test_calibration_armar_de_elb1_l():