diagnostics/MotorDiagnostics.py

@@ -4,7 +4,6 @@ import umath
 class MotorDiagnostics:
   def __init__(self, hub, motorclass):
       self.testmotor = None
-      self.motorclass = motorclass
       self.port_map = {
         "A": Port.A,
         "B": Port.B,
@@ -13,7 +12,7 @@ class MotorDiagnostics:
         "E": Port.E,
         "F": Port.F,
       }
-
+      self.motorclass = motorclass
   def stdev(self, vals):
     DATA = vals
     if len(DATA) < 2:
@@ -37,7 +36,7 @@ class MotorDiagnostics:
     STABILITY = max(0, 100 - (stdev_speed / desired) * 100)
 
     # Normalize load: map 10 to 20 as baseline (around 0%), 200 as max (around 100%)
-    BASELINE = 15      # midpoint of idle range
+    BASELINE = 10      # midpoint of idle range
     MAX_OBSERVED = 200 # heavy load/stall
     NORMALIZED_LOAD = max(0, avg_load - BASELINE)
     LOAD_PCT = min(100, (NORMALIZED_LOAD / (MAX_OBSERVED - BASELINE)) * 100)