leo_fw.test_hw module

class leo_fw.test_hw.HardwareTester(node: rclpy.node.Node)

Bases: object

WHEEL_NAMES = ['FL', 'RL', 'FR', 'RR']

battery_callback(data: std_msgs.msg.Float32) → None

check_motor_load() → bool

imu_callback(data: leo_msgs.msg.Imu) → None

is_new_battery_data = False

is_new_imu_data = False

is_new_wheel_data = False

test_battery() → tuple[bool, str | None]

test_encoder(motors_loaded=True) → tuple[bool, str | None]

test_imu() → tuple[bool, str | None]

test_torque(motors_loaded=True) → tuple[bool, str | None]

wheel_callback(data: leo_msgs.msg.WheelStates) → None

class leo_fw.test_hw.TestMode(value)

Bases: Enum

An enumeration.

ALL = 'all'

BATTERY = 'battery'

ENCODER = 'encoder'

IMU = 'imu'

TORQUE = 'torque'

leo_fw.test_hw.test_hw(hardware: TestMode = TestMode.ALL) → None