tests: Additional unit test exemplarily for Wri1 (L)

tests/test_calibration.py

@@ -351,6 +351,46 @@ def test_calibration_armar_de_elb2_l():
     assert abs(cvt_rad - util.degree_to_rad(180)) < util.degree_to_rad(9)  # TODO: Tolerance way too high
 
 
+def test_calibration_armar_de_wri1_l():
+    lo_lim_92 = 470086
+    lo_45 = 594240
+    zero = 732608
+    hi_45 = 856752
+    hi_lim_92 = 1000644
+
+    joint = Calibration(
+        name="Wri1_L",
+        measured_limits_ticks=(470086, 1000644),
+        measured_zero_ticks=732608,
+        discontinuity_offset="0",
+        joint_offset_degree=0,
+        joint_limits_degree=(-91, 91),
+        method="hard_stop",
+        **ctx)
+
+    zero_offset = joint.get_zero_offset()
+
+    cvt_args = {
+        "joint": joint,
+        "zero_offset": zero_offset
+    }
+
+    cvt_rad = util.convert_value(raw_value=lo_lim_92, **cvt_args)
+    assert abs(cvt_rad - util.degree_to_rad(-92)) < util.degree_to_rad(1)
+
+    cvt_rad = util.convert_value(raw_value=lo_45, **cvt_args)
+    assert abs(cvt_rad - util.degree_to_rad(-45)) < util.degree_to_rad(4)
+
+    cvt_rad = util.convert_value(raw_value=zero, **cvt_args)
+    assert abs(cvt_rad - util.degree_to_rad(0)) < util.degree_to_rad(1)
+
+    cvt_rad = util.convert_value(raw_value=hi_45, **cvt_args)
+    assert abs(cvt_rad - util.degree_to_rad(45)) < util.degree_to_rad(3.5)
+
+    cvt_rad = util.convert_value(raw_value=hi_lim_92, **cvt_args)
+    assert abs(cvt_rad - util.degree_to_rad(92)) < util.degree_to_rad(1)
+
+
 def test_calibration_armar_de_sho2_r():
     return  # TODO: Broken for some reason...