Robot Hardware Testing Tasks

[Matt S]

This thread is meant for discussing the different test cases or tasks that we will use for testing the robot hardware.

Arm:

• Find the maximum and minimum potentiometer values of the arm and extension
• Find extension for home
• Find extension for intake
• Check accuracy of home angle, intake angle, switch angle, low scale angle, high scale angle, and climber angle
• Run fine-tuning, and test it for full range (have wrist retracted when home), and adjust speed if necessary.   Make sure that arm also does not exceed 16 inch boundary
• Move arm to all major positions, and make sure that the PID holds the arms position (adjust as needed)
• Do cube tests later with claw

Claw:

• Check that home position is working as intended
• Check leveling at various positions
• Check that the wrist can fold back fully with arm at various angles
• Check that the wrist can change positions with a cube
• Check that gripper limit switches work as intended (fully open, fully closed)
• Check that gripper can grab a cube and stall the motor
• Check that the gripper can drop a cube
• Check that gripper can grab a cube in various positions

[Vanshika C]

What about using the current to stall the motor to keep the arm in place (don’t know if I’m describing this quite right)?

[Louis L]

What about using the current to stall the motor to keep the arm in place (don’t know if I’m describing this quite right)?

The current plan is to NOT do this; let the PID do the job of holding position. It'll probably bounce.

[Benjamin K]

Autonomous Mode Testing

• Adjust MIN_SPEED in RotateAngle(), DriveDistance(), and CalculateSonarDistance() commands
• Adjust MAX_SPEED in RotateAngle(), and DriveDistance()
• Adjust the Speed constants in AutoAction()
• Test the Robot do scale and switch commands(Robot on right and left) for autonomous. When the robot is aligned
• Do the same with the robot pointing slightly to the left
• Do the same with the robot pointing slightly to the right
• Test Baseline
• Do Left Switch and Right Switch from center positions

[Ishita G]

Intake

• Check to make sure intake can be flushed by pressing button 8 on the right joystick
• Check to see if the left trigger on the Xbox controller allows the intake motors to run at different speeds
• Check if intake lowers after timeout
• Check to see if intake raises
• Check to make sure arm is moved, intake is lowered, and cube is grabbed when right trigger (on Xbox controller) is pressed

[Ishita G]

Climber

• Check if cube is flushed, intake is raised, arm is raised, and claw is moved before robot begins to climb
• Check if climber is extended if rung is detected and setup is complete
• Check if robot returns message "Rung not detected" if rung is not detected, but setup is complete
• Check if arm is extended and robot climbs after all requirements are fulfilled
• Check if climber sonar distance is shown on the Smart Dashboard

[Vanshika C]

- First thing once we get the hardware is to try the wiring using the livewindow. Once we know the sensors and actuators are connected to the right places we can move on to try the actual software.

- Add all basic commands to SmartDashboard. The idea is that when we get the hardware we can make sure the commands are accessing the right sensors and motors. Try each command in isolation before joystick and controllers

[Vanshika C]

Order for Testing Items:

• Try wiring using Live Window and add all basic commands to SmartDashboard
• Basics of Autonomous: MIN_SPEED, MAX_SPEED, Baseline
• Intake Testing: lowering, raising, flush
• Arm Testing: determine PID values for rotation and extension length, check that arm is always within 16 in boundary for full range of motion, check that extension length changes right when outside of "critical angle" range (exchange to high scale).
• Claw Testing: test folding and lowering wrist, limit switches for gripper and wrist, keeping claw level while arm moves
• Climber Testing: rung detection cases (setup complete, setup incomplete), extension cases and requirements, climber sonar distance

Feel free to add on.

[Vanshika C]

Master List of Tasks for Testing:

Intake:

• Make sure all joystick buttons work properly:
• Check if left trigger on controller makes intake motors move at different speeds
• button 8 -> flush intake
• Check that intake lowers after timeout
• Determine appropriate values for all speeds:
• Raise Speed
• Lower Speed
• Roller Speed
• Varied Roller Speed
• New intake motor speeds
• Check pulling straight in and pulling cube from one side or the other (toggle and values)

Drivetrain:

• Check values for:
• Abs encoders
• PID parameter values
• Timeout
•   Min Speed for Robot in CalculateSonarDistance command
• Max distance robot can be from the wall before it stops adjusting *lower priority (MAX_ADJUST)
• Angle tolerance for rotation
• max speed and min speed in RotateAngle
• Check toggle for field centric and robot centric

Claw:

• Check values for:
• Level Max, Min, and Motion speed
• Current max value
• Open and close speed
• angle up and down speed for wrist
• value of gyro when wrist is level
• tolerance for gyro value for level wrist
• Check that wrist can fold back at different angles
• Check that wrist stays level at different positions
• Check that gripper limit switches work
• Check that gripper can handle cube at different positions
• Check gyro recalibration

Arm:

• Test finetuning for whole range of motion of arm
• test that arm does not cross 16 in boundary
• Determine correct values for the following:
• PID parameters for extension and arm
• margin values for position and arm
• potentiometer values for arm at home, intake, exchange, switch, lowscale, highscale, min and max
• pot values for extension at home, intake, min and max
• finetune rate
• critical angle range and margins for fixed angle strat
• max distance and distance margin for linearmovestrat
• test that the different strategies work

Auto:

• determine values for:
• speed constants in AutoAction()
• local switch and scale speed
• distance to middle of switch, lane, and scale
• auto run distance
• travel through switch, across switch
• lane to scale
• distance from wall
• Scale and switch commands with robot on right and left, and aligned and pointed slightly left and right
• Test Baseline
• Do Left Switch and Right Switch from center positions

Other Stuff:

• Get current stall values for:
• Intake motors
• Arm motors
• Check joystick buttons