improve the test

Author: ryanthecoder

hardware/tests/opentrons_hardware/hardware_control/test_motion_plan.py

@@ -268,6 +268,7 @@ def test_pipette_high_speed_motion() -> None:
             if top_set_axis_speed != 0:
                 assert abs(top_set_axis_speed) == dummy_em_pipette_max_speed
 
+
 @given(
     x_constraint=generate_axis_constraint(),
     y_constraint=generate_axis_constraint(),
@@ -284,6 +285,7 @@ async def test_plunger_devectorize(
     b_constraint: AxisConstraints,
     c_constraint: AxisConstraints,
 ) -> None:
+    """Test to make sure the devectorize function can isolate an axis from the move target speed limit."""
     constraints: SystemConstraints[str] = {
         "X": x_constraint,
         "Y": y_constraint,
@@ -294,11 +296,29 @@ async def test_plunger_devectorize(
     }
     manager = move_manager.MoveManager(constraints=constraints)
     origin = {"X": 0, "Y": 0, "Z": 0, "A": 0}
-    target = {"X": 10, "Y": 10, "Z": 10, "A": 10}
+    target = {"X": 10, "Y": 10, "Z": 10, "A": 20}
+    speed = 10
+    devectorized = manager.devectorize_axes(origin, target, speed, ["A"])
+
+    converged, blend_log = manager.plan_motion(
+        origin=origin,
+        target_list=[devectorized],
+        iteration_limit=20,
+    )
+    uv = blend_log[0][0].unit_vector
+
+    assert (uv["A"]) * devectorized.max_speed == speed
+
+    # make sure that if the axis isn't included it doesn't effect other axes.
+    target = {"X": 10, "Y": 10, "Z": 10}
     speed = 10
-    all_vectored = MoveTarget.build(position=target, max_speed=speed)
     devectorized = manager.devectorize_axes(origin, target, speed, ["A"])
-    assert devectorized.max_speed > all_vectored.max_speed
-    assert devectorized.max_speed == 20
 
+    converged, blend_log = manager.plan_motion(
+        origin=origin,
+        target_list=[devectorized],
+        iteration_limit=20,
+    )
+    uv = blend_log[0][0].unit_vector
 
+    assert devectorized.max_speed == speed