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Testing Drive
The robot drive subsystem runs the robot drive train and chassis, commands consisting mainly of set series of actions or single actions to take. 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.
- Drive with xBox should be automatically started.
1.A - Put robot on blocks so the wheels don't touch the ground.
1.B - Ensure that the winch is disengaged or becomes disengaged when the robot is activated.
1.C - Unplug motors, this should disable the drive base.
1.D - When driving forward using the joystick, the right turns one color and the left turns the opposite.
1.E - When driving backward using the joystick, the right turns one color and the left turns the opposite.
1.F - When turning left using the joystick, the right and left should be the same color.
1.G - When turning right using the joystick, they should be the opposite of 1.F.
1.H - Remove finger from the joystick, returning it to the neutral position, the drive base should stop motion and both lights should turn orange.
1.J - Plug in the motors.
1.K - When driving forward using the joystick, ensure the wheels spin in the forward direction.
1.L - When driving backward using the joystick, ensure the wheels spin in the backward direction.
1.M - When turning left using the joystick, ensure the left side is moving faster than the right to turn.
1.N - When turning right using the joystick, ensure the right side is moving faster than the left to turn.
- Map DriveDistance for one revolution forward to button A1.
- Map DriveDistance for one revolution backward to button B1.
2.A - Put robot on blocks so the wheels don't touch the ground.
2.B - Ensure that the winch is disengaged or becomes disengaged when the robot is activated.
2.C - Unplug motor, this should disable the drive base.
2.D - Press button A1, the right turns red and the left turns green. Lights should be on for a short amount of time and once on rest, both of the lights should turn orange.
2.E - Plug in the motors.
2.F - When driving forward when the button is pressed, ensure the wheels spin in the forward direction for one revolution.
2.G - Repeat previous steps in this section to test for button B1 for backward motion. The lights will become the opposite color from the previous test.
- Map AutoDriveTurnLeft to button X1.
3.A - Put robot on blocks so the wheels don't touch the ground.
3.B - Ensure that the winch is disengaged or becomes disengaged when the robot is activated.
3.C - Unplug the motor, this should disable the drive base.
3.D - Press the button, the right should turn green and the left should also turn green. The lights should be on for 2 seconds. Then, both of the lights should turn orange.
3.E - Plug in the motors.
3.F - When turning left pressing the button, ensure the left side is moving faster than the right to turn.
- Map AutoDriveTurnRight to button Y1.
4.A - Put robot on blocks so the wheels don't touch the ground.
4.B - Ensure that the winch is disengaged or becomes disengaged when the robot is activated.
4.C - Unplug the motor, this should disable the drive base.
4.D - Press the button, the right should turn red and the left should also turn red. The lights should be on for 2 seconds. Then, both of the lights should turn orange.
4.E - Plug in the motors.
4.F - When turning right pressing the button, ensure the right side is moving faster than the left to turn.