Testing Climber

The robot climber subsystem runs the mechanism for climbing the tower, commands consisting mainly of logically controlled actions. Testing will be done by command, cycling through the different functions and the commands that run them. Starting with the simplest commands and working upwards.

1) Climbing

• Map climb command to button A1
• Put the robot up on blocks
• Unplug drive motors
• Turn on the robot

1.A - Make sure clutch is disengaged and the latch is not engaged.
1.B - Press the button A1.
1.C - Check to see if the clutch is engaged and motors have changed light colors. Take note of which color is for going backwards.
1.D - Spin the wheels with your hand to see if the arm pulls down.
1.E - Let go of the button and check that the lights are orange. Take the robot off the blocks.
1.F - Press the button A1 and see if the clutch engages.
1.G - Slowly begin to push the robot backwards and see if the axles spin in the right direction.
1.H - Turn the robot off and plug in the drive motors.
1.I - Put it back up onto the blocks and turn on the robot.
1.J - Push the joystick backwards slowly and check the color of the motors lights. Check that they are the same colors as in 1.C.
1.K - Turn the robot off and unplug the drive motors.
1.L - Turn on the robot, press the bottom switch, and press the button A1. The speed controllers should stay orange.
1.M - Press the button A1 and be ready to press the bottom switch. The colors should change to the motor direction's as in 1.C.
1.N - Tap the bottom switch and the speed control colors should return to orange, nothing should be moving.
1.O - Turn the robot off and plug in the drive motors. Repeat steps 1.L, 1.M, and 1.N.
1.P - Turn the robot off, unwind the winch, and set the robot up against the tower to climb.
1.Q - Turn the robot on and pulse the button A1. Watch to see if it works.
1.R - Let go of A1 and disable the robot. Make sure that it stays up.

2) Latch

• Map releaseLatch command to button B1
• Put the robot up on blocks
• Unplug drive motors
• Turn on the robot

2.A - Make sure the arm is not in the latch.
2.B - Check if the latch is closed and then manually try to open the latch. There should be resistance.
2.C - Now press button B1 and see if the latch opens completely.
2.D - BE CAREFUL! THERE ARE PARTS THAT CAN WHIP AROUND AND CAUSE SERIOUS HARM TO SOMEONE! USE CAUTION!
2.E - Push down the arm back into it's starting position, place the safety strap onto the arm to hold it down, and then reengage the latch.
2.F - Make sure that the latch actually holds and the safety strap doesn't fail.
2.G - Now press button B1 and see if the latch opens up completely, allowing the arm to release and rise as much as the strap allows it.
2.H - Let go of the button and push back down the arm into place. Reengage the latch.

3) Putting it All Together

• Map climb command to button A1
• Map releaseLatch command to button B1
• Plug in the drive motors
• Turn on the robot

3.A - Undo the safety strap that holds down the arm and QUICKLY walk away.
3.B - Place the robot a bit away from the tower so it is in position to climb.
3.C - Press B1 which will release the latch, raising the arm. Make sure it is in position.
3.D - The driver will use the joysticks to drive the robot backwards so the arm is directly above the bar.
3.E - Press A1 which engages the clutch, starting the drive motors.
3.F - The robot should now pull itself up onto the wall.