chore: update docs

README.md

@@ -11,7 +11,7 @@ Welcome to the Ribot project, your comprehensive solution for controlling roboti
 - Python 3.8 or higher
 - ESPTool Python package for firmware flashing (Required, if using Docker):
   ```bash
-  pip install esptool
+  pip install esptool toml
   ```
 - Alternatively, you can use your own install of ESP IDF (v5.1.1) for manual firmware flashing.
 

arm_docs/docs/introduction/installation.md

@@ -18,7 +18,7 @@ Before installing RiBot, ensure that your system meets the following prerequisit
 - **ESPtool**: This is a Python library needed for flashing the ESP32 microcontroller. Install it using the following command in your terminal:
 
     ```bash
-    pip install esptool
+    pip install esptool toml
     ```
 
 ## Steps to Install RiBot

controller/pyproject.toml

@@ -48,7 +48,7 @@ isort = "isort src"
 black = "black src"
 pure_lint = "flake8 src"
 type_check = "mypy src"
-test = "python -m unittest discover -s src/ribot/tests -p 'test_*.py'"
+test = "python -m unittest discover -s src/ribot/tests -p 'test_*.py' -v"
 format = {composite = ["isort", "black"]}
 lint = {composite = ["pure_lint", "type_check"]}
 main = "python src/ribot/sample_main.py"

controller/src/ribot/tests/test_controller.py

@@ -221,7 +221,7 @@ def test_speed_with_modified_settings(self) -> None:
         self.controller.set_setting_joints(Settings.STEPS_PER_REV_MOTOR_AXIS, 800)
 
         self.controller.set_setting_joints(Settings.STEPS_PER_REV_MOTOR_AXIS, 800)
-        self.controller.set_setting_joint(Settings.STEPS_PER_REV_MOTOR_AXIS, 1600, 0)
+        self.controller.set_setting_joint(Settings.STEPS_PER_REV_MOTOR_AXIS, 1000, 0)
         self.controller.set_setting_joint(Settings.STEPS_PER_REV_MOTOR_AXIS, 200, 3)
 
         self.controller.set_setting_joints(Settings.HOMING_OFFSET_RADS, 0)

manage.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 
+from sys import stdout
 import time
 import argparse
 import subprocess
@@ -88,16 +89,14 @@ def dc_run(self, service_name: str, command: str, env={}, service_ports_and_alia
         new_command.extend(command_list)
 
         try:
-            if mute:
-                return subprocess.run(new_command, env={**os.environ, **env}, check=True,
-                                      stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
-            else:
-                return subprocess.check_call(new_command, env={**os.environ, **env})
+            result = subprocess.run(new_command, env={**os.environ, **env}, check=True,
+                                    stderr=subprocess.PIPE)
+            print(result.stderr.decode('utf-8'))
+            return result.returncode
         except subprocess.CalledProcessError as e:
-            if mute:
-                print("Command failed with the following output:")
-                print(e.stdout.decode('utf-8'))
-            raise
+            print("Command failed with the following output:")
+            print(e.output.decode('utf-8'))  # Output includes both stdout and stderr
+            return e.returncode
 
     def dc_up(self, files: List[str], env: dict = {}, detached=False):
 
@@ -424,6 +423,7 @@ def test_no_debug(self, **_):
         self.build_firmware()
         self.docker_manager.dc_up(['firmware.yaml'], env={
             "ESP_CONTROLLER_SERVER_HOST": "controller"}, detached=True)
+
         exit_code = self.docker_manager.dc_run('controller.yaml', 'controller pdm run test',
                                                service_ports_and_aliases=True)