调整传感器位置

apps/autocal/tests/test_pose_move.py

@@ -136,6 +136,31 @@ def test_returning_to_zero_moves_the_five_axes_together():
     assert all(step.target == 0.0 for step in plan.steps)
 
 
+def test_return_to_initial_can_park_y_forward():
+    service = make_service()
+    plan = plan_return_to_initial(service, x_mm=-1.0, y_mm=15.0)
+    targets = {step.role: step.target for step in plan.steps}
+    assert targets == {"yaw": 0.0, "pitch": 0.0, "x": -1.0, "y": 15.0, "z": 0.0}
+
+
+def test_pitch_positive_direction_matches_the_drive():
+    service = make_service()
+    pitch = ROLES["pitch"]
+    yaw = ROLES["yaw"]
+    seen: list[bool] = []
+    service.transport.jog = lambda axis, forward: seen.append((axis, forward))  # type: ignore[method-assign]
+
+    assert service.jog(pitch, True).ok
+    assert seen == [(pitch, True)]
+    assert service.move_rel(pitch, 90.0).ok
+    assert service.move_rel(yaw, 90.0).ok
+    assert service.transport.get_dpos(pitch) == pytest.approx(90.0)
+    assert service.transport.get_dpos(yaw) == pytest.approx(90.0)
+    snapshot = service.poll()
+    assert snapshot.axis(pitch).dpos == pytest.approx(90.0)
+    assert snapshot.axis(yaw).dpos == pytest.approx(90.0)
+
+
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