Various changes in Python code

controller/python/check-firmware.py

@@ -35,9 +35,13 @@ def check_firmware():
     assert c.get_encoder_ticks() == (0, 0)
     print("- Check that PID coefficients can be set and read")
     c.set_pid_coefficients(0, 0, 0)
-    assert c.get_pid_coefficients() == (0, 0, 0)
+    assert c.get_pid_coefficients() == ((0, 0), (0, 0), (0, 0))
     c.set_pid_coefficients(0.25, 0.125, -0.0625)
-    assert c.get_pid_coefficients() == (0.25, 0.125, -0.0625)
+    assert c.get_pid_coefficients() == (
+        (0.25, 0.25),
+        (0.125, 0.125),
+        (-0.0625, -0.0625),
+    )
     print("- Check that the shutdown timeout triggers in controlled mode")
     c.set_motor_shutdown_timeout(0.2)
     c.set_pid_coefficients(4, 0, 0)
@@ -71,11 +75,11 @@ def check_firmware():
     (left, right) = c.get_encoder_ticks()
     assert left > 0 and right < 0
     print("- Check that the I error accumulator is reset in non-controlled mode")
-    assert c.get_pid_i_accumulator() == (0, 0)
+    assert c.get_pid_i_accumulators() == (0, 0)
     print("- Check that a positive I stays behind the target")
     c.set_motor_speed(30, 30)
     time.sleep(0.5)
-    (left, right) = c.get_pid_i_accumulator()
+    (left, right) = c.get_pid_i_accumulators()
     assert left > 0 and right > 0
     time.sleep(1)