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Add tests
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‎test/README.md‎

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# ST3215 Test Suite
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This directory contains individual test scripts for testing ST3215 servo motor functionality. Each test focuses on specific functionality and can be run independently.
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## Prerequisites
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### Hardware Requirements
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- ST3215 servo motor with ID 1 connected to the system
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- USB-to-Serial adapter (RS-485 or TTL depending on your setup)
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- Proper power supply for the servo motor
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### Software Requirements
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- Python 3.10+
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- st3215 library installed (`pip install -e .` from project root)
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- pyserial dependency
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## Environment Setup
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Set the USB device path in your environment:
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```bash
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export ST3215_DEV="/dev/ttyUSB0"
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```
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## Running Tests
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Each test can be executed individually:
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```bash
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python test_01_ping_servo.py
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python test_02_list_servos.py
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# ... etc
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```
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Or run all tests in sequence:
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```bash
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for test in test_*.py; do echo "Running $test"; python "$test"; echo; done
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```
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## Test Descriptions
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### Test 01: PingServo
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Tests basic communication with servo ID 1.
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- **File**: `test_01_ping_servo.py`
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- **Purpose**: Verify servo is connected and responding
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### Test 02: ListServos
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Scans the bus for all connected servos.
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- **File**: `test_02_list_servos.py`
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- **Purpose**: Discover all servos on the bus
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### Test 03: Read Load, Voltage & Current
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Tests telemetry reading functions.
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- **File**: `test_03_read_load_voltage_current.py`
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- **Purpose**: Read motor load, supply voltage, and current consumption
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- **⚠️ Special Instructions**: Apply physical force to the servo motor shaft, then press Enter before running this test
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### Test 04: ReadTemperature
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Tests temperature sensor reading.
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- **File**: `test_04_read_temperature.py`
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- **Purpose**: Read internal servo temperature
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### Test 05: ReadAcceleration
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Tests acceleration parameter reading.
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- **File**: `test_05_read_acceleration.py`
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- **Purpose**: Read current acceleration setting
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### Test 06: ReadMode
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Tests operational mode reading.
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- **File**: `test_06_read_mode.py`
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- **Purpose**: Read current servo operation mode
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### Test 07: ReadCorrection
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Tests position correction reading.
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- **File**: `test_07_read_correction.py`
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- **Purpose**: Read position correction value
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### Test 08: ReadStatus
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Tests servo status reading.
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- **File**: `test_08_read_status.py`
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- **Purpose**: Read servo sensor status flags
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### Test 09: IsMoving
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Tests motion detection.
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- **File**: `test_09_is_moving.py`
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- **Purpose**: Check if servo is currently moving
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### Test 10: Complete Motion Control
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Comprehensive test of servo control functions.
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- **File**: `test_10_complete_motion_control.py`
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- **Purpose**: Test StartServo, SetAcceleration, SetSpeed, rotation mode, position mode, and StopServo
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- **⚠️ Important**: Ensure servo has enough physical clearance for movement
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## Safety Notes
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- Ensure proper power supply is connected before running tests
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- Verify servo has adequate clearance for movement in Test 10
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- Stop execution immediately if unusual noises or behaviors occur
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- Test 03 requires manual interaction (applying force)
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## Troubleshooting
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### Common Issues
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1. **Permission denied on /dev/ttyUSB0**:
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```bash
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sudo chmod 666 /dev/ttyUSB0
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# or add user to dialout group
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sudo usermod -a -G dialout $USER
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```
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2. **Servo not responding**:
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- Check power supply
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- Verify correct baud rate
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- Ensure proper wiring
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- Confirm servo ID is set to 1
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3. **Import errors**:
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- Install library: `pip install -e .` from project root
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- Check Python path
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## Expected Output
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Each test will display:
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- Test description
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- Connection status
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- Test results with actual values
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- Success/failure indication
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Example output:
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```
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=== ST3215 Ping Test ===
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Device: /dev/ttyUSB0
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Testing ping to servo ID 1...
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✓ Servo ID 1 responded successfully
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Test completed successfully!
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```

‎test/test_01_ping_servo.py‎

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#!/usr/bin/env python3
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"""
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Test 01: PingServo
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Tests basic communication with servo ID 1.
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"""
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import os
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import sys
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from st3215 import ST3215
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def main():
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print("=== ST3215 Ping Test ===")
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# Get device from environment variable
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device = os.getenv('ST3215_DEV')
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if not device:
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print("❌ Error: ST3215_DEV environment variable not set")
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print(" Please set it to your serial device (e.g., /dev/ttyUSB0)")
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sys.exit(1)
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print(f"Device: {device}")
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try:
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# Initialize servo controller
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servo = ST3215(device)
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print("✓ Serial connection established")
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# Test ping to servo ID 1
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servo_id = 1
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print(f"Testing ping to servo ID {servo_id}...")
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result = servo.PingServo(servo_id)
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if result:
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print(f"✓ Servo ID {servo_id} responded successfully")
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print("Test completed successfully!")
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else:
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print(f"❌ Servo ID {servo_id} did not respond")
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print(" Check connections, power supply, and servo ID")
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sys.exit(1)
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except Exception as e:
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print(f"❌ Error during test: {e}")
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sys.exit(1)
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if __name__ == "__main__":
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main()

‎test/test_02_list_servos.py‎

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#!/usr/bin/env python3
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"""
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Test 02: ListServos
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Scans the bus for all connected servos.
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"""
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import os
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import sys
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from st3215 import ST3215
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def main():
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print("=== ST3215 List Servos Test ===")
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# Get device from environment variable
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device = os.getenv('ST3215_DEV')
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if not device:
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print("❌ Error: ST3215_DEV environment variable not set")
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print(" Please set it to your serial device (e.g., /dev/ttyUSB0)")
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sys.exit(1)
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print(f"Device: {device}")
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try:
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# Initialize servo controller
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servo = ST3215(device)
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print("✓ Serial connection established")
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# Scan for all servos on the bus
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print("Scanning bus for connected servos...")
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servo_list = servo.ListServos()
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if servo_list is None:
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print("❌ Error occurred during servo scan")
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sys.exit(1)
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elif len(servo_list) == 0:
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print("❌ No servos found on the bus")
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print(" Check connections and power supply")
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sys.exit(1)
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else:
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print(f"✓ Found {len(servo_list)} servo(s):")
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for servo_id in servo_list:
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print(f" - Servo ID: {servo_id}")
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if 1 in servo_list:
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print("✓ Required servo ID 1 is present")
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print("Test completed successfully!")
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else:
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print("⚠️ Warning: Servo ID 1 not found (required for other tests)")
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print(" Make sure servo ID 1 is connected and powered")
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except Exception as e:
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print(f"❌ Error during test: {e}")
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sys.exit(1)
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if __name__ == "__main__":
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main()

‎test/test_03_read_load_voltage_current.py‎

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#!/usr/bin/env python3
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"""
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Test 03: ReadLoad + ReadVoltage + ReadCurrent
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Tests telemetry reading functions.
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Special Instructions: Apply physical force to servo shaft before running.
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"""
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import os
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import sys
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from st3215 import ST3215
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def main():
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print("=== ST3215 Load, Voltage & Current Test ===")
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# Get device from environment variable
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device = os.getenv('ST3215_DEV')
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if not device:
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print("❌ Error: ST3215_DEV environment variable not set")
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print(" Please set it to your serial device (e.g., /dev/ttyUSB0)")
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sys.exit(1)
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print(f"Device: {device}")
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try:
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# Initialize servo controller
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servo = ST3215(device)
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print("✓ Serial connection established")
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servo_id = 1
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# Special instructions for this test
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print("\n⚠️ SPECIAL INSTRUCTIONS:")
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print(" 1. Apply physical force to the servo motor shaft")
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print(" 2. Hold the force while the test is running")
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print(" 3. Press Enter when ready to start the test")
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input("Press Enter to continue...")
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print("\nRunning telemetry tests...")
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# Test ReadLoad
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print(f"Reading motor load from servo ID {servo_id}...")
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load = servo.ReadLoad(servo_id)
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if load is not None:
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print(f"✓ Motor Load: {load:.2f}%")
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else:
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print("❌ Failed to read motor load")
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# Test ReadVoltage
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print(f"Reading supply voltage from servo ID {servo_id}...")
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voltage = servo.ReadVoltage(servo_id)
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if voltage is not None:
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print(f"✓ Supply Voltage: {voltage:.2f}V")
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else:
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print("❌ Failed to read supply voltage")
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# Test ReadCurrent
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print(f"Reading current consumption from servo ID {servo_id}...")
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current = servo.ReadCurrent(servo_id)
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if current is not None:
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print(f"✓ Current Consumption: {current:.2f}mA")
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else:
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print("❌ Failed to read current consumption")
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# Summary
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print("\n=== Test Summary ===")
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if load is not None and voltage is not None and current is not None:
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print("✓ All telemetry readings successful!")
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print(f" Load: {load:.2f}%")
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print(f" Voltage: {voltage:.2f}V")
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print(f" Current: {current:.2f}mA")
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print("Test completed successfully!")
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else:
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print("❌ Some telemetry readings failed")
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print(" Check servo connection and power supply")
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sys.exit(1)
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except Exception as e:
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print(f"❌ Error during test: {e}")
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sys.exit(1)
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if __name__ == "__main__":
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main()

‎test/test_04_read_temperature.py‎

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#!/usr/bin/env python3
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"""
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Test 04: ReadTemperature
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Tests temperature sensor reading.
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"""
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import os
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import sys
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from st3215 import ST3215
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def main():
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print("=== ST3215 Temperature Test ===")
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# Get device from environment variable
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device = os.getenv('ST3215_DEV')
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if not device:
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print("❌ Error: ST3215_DEV environment variable not set")
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print(" Please set it to your serial device (e.g., /dev/ttyUSB0)")
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sys.exit(1)
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print(f"Device: {device}")
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try:
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# Initialize servo controller
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servo = ST3215(device)
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print("✓ Serial connection established")
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servo_id = 1
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# Test ReadTemperature
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print(f"Reading internal temperature from servo ID {servo_id}...")
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temperature = servo.ReadTemperature(servo_id)
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if temperature is not None:
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print(f"✓ Internal Temperature: {temperature}°C")
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# Provide some context about the temperature reading
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if temperature < 30:
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print(" Status: Normal (cool)")
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elif temperature < 50:
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print(" Status: Normal (warm)")
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elif temperature < 65:
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print(" Status: Getting hot")
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else:
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print(" Status: ⚠️ Hot - monitor closely")
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print("Test completed successfully!")
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else:
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print("❌ Failed to read internal temperature")
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print(" Check servo connection and power supply")
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sys.exit(1)
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except Exception as e:
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print(f"❌ Error during test: {e}")
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sys.exit(1)
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if __name__ == "__main__":
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main()

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