fixed platform not moving problem

apps/autocal/tests/test_units.py

@@ -1,11 +1,13 @@
-"""Unit-to-millimetre conversion.
+"""Unit conversion: linear mm and rotary degrees.
 
-The reference program carries the bench measurement in a comment::
+Bench notes::
 
     # 轴0(X)/轴1(Y) 实测: UNITS=10 时 1000用户单位 = 2mm → 每毫米 5000 脉冲
     # 当量5 → 1000单位=1mm，不是100单位=1mm
+    # 轴2: 12500 用户单位 = 90°
+    # 轴3: 29500 用户单位 = 90°
 
-These are the assertions that keep that comment honest.
+These are the assertions that keep those notes honest.
 """
 
 from __future__ import annotations
@@ -16,8 +18,12 @@ import pytest
 
 from orisys_autocal.motion.units import (
     PULSES_PER_MM,
+    ROTARY_UNITS_PER_90_DEG,
+    deg_to_user_units,
     mm_to_user_units,
     safe_float,
+    units_per_degree,
+    user_units_to_deg,
     user_units_to_mm,
 )
 
@@ -71,3 +77,35 @@ def test_zero_falls_back_because_it_would_divide(text):
 @pytest.mark.parametrize(("text", "expected"), [("5", 5.0), (" 2.5 ", 2.5), ("-3", -3.0)])
 def test_usable_entries_are_parsed(text, expected):
     assert safe_float(text, 42.0) == expected
+
+
+def test_rotary_bench_constants():
+    assert ROTARY_UNITS_PER_90_DEG[2] == 12500.0
+    assert ROTARY_UNITS_PER_90_DEG[3] == 29500.0
+
+
+@pytest.mark.parametrize(
+    ("axis", "user_units", "expected_deg"),
+    [
+        (2, 12500.0, 90.0),
+        (2, 25000.0, 180.0),
+        (3, 29500.0, 90.0),
+        (3, 14750.0, 45.0),
+        (2, 0.0, 0.0),
+        (3, -29500.0, -90.0),
+    ],
+)
+def test_rotary_conversion_matches_the_bench(axis, user_units, expected_deg):
+    assert user_units_to_deg(axis, user_units) == pytest.approx(expected_deg)
+    assert deg_to_user_units(axis, expected_deg) == pytest.approx(user_units)
+
+
+def test_units_per_degree_is_units_over_ninety():
+    assert units_per_degree(2) == pytest.approx(12500.0 / 90.0)
+    assert units_per_degree(3) == pytest.approx(29500.0 / 90.0)
+
+
+def test_uncalibrated_rotary_axis_is_not_a_number():
+    assert math.isnan(units_per_degree(0))
+    assert math.isnan(user_units_to_deg(1, 1000.0))
+    assert math.isnan(deg_to_user_units(4, 90.0))