first

extras/tests/esp32_hw_based/judge_pcnt_sync.awk

@@ -0,0 +1,51 @@
+BEGIN {
+	pass = 1
+}
+
+# This is for running motor
+/^M[17]:/ {
+	api = substr($2,2)
+	pcnt = substr($3,2,length($3)-2)
+	if (pcnt < 0) {
+		if (api > 0) {
+			while (pcnt < 0) {
+				pcnt += 32767
+			}
+		}
+	}
+	api = api % 32767
+	delta = pcnt - api
+	if (api > pcnt) {
+		delta = api - pcnt
+	}
+	if ((delta > 66) && (delta < 32767-66)) {
+	    print
+		print api, pcnt
+		pass = 0
+		print "FAIL HERE ^^^"
+	}
+}
+# This is for selected motor
+/^>> M[17]:/ {
+	print
+	api = substr($3,2)
+	api = api % 32767
+	pcnt = substr($4,2,length($4)-2)
+	if (pcnt < 0) {
+	    pcnt += 32767
+	}
+	if (api != pcnt) {
+		print api, pcnt
+		pass = 0
+		print "FAIL HERE ^^^"
+	}
+}
+
+END {
+	if (pass) {
+		print "PASS"
+	}
+	else {
+		print "FAIL"
+	}
+}