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.

1) Drive

• Map Drive to joystick
• State requirements 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 colour and the left turns the opposite. 1.E - When driving backward using the joystick, the right turns one colour and the left turns the opposite. 1.F - When turning left using the joystick, the right and left should be the same colour. 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.

2) Auto-Drive Forward

• Map AutoDriveForward to Button1 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, the right turns red and the left turns green. Lights should be on for 2 seconds 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.

3) Auto-Drive Backward

• Map AutoDriveBackward to Button2 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 motor, this should disable the drive base. 3.D - Press the button, the right should green and the left should turn red. The lights should be on for 2 seconds and once. Then, both of the lights should turn orange. 3.E - Plug in the motors. 3.F - When driving forward when the button is pressed, ensure the wheels spin in the backward direction.

4) Auto-Drive Turn Left

• Map AutoDriveTurnLeft to Button3 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 green and the left should also turn green. 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 left pressing the button, ensure the left side is moving faster than the right to turn.

5) Auto-Drive Turn Right

• Map AutoDriveTurnRight to Button4 5.A - Put robot on blocks so the wheels don't touch the ground. 5.B - Ensure that the winch is disengaged or becomes disengaged when the robot is activated. 5.C - Unplug the motor, this should disable the drive base. 5.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. 5.E - Plug in the motors. 5.F - When turning right pressing the button, ensure the right side is moving faster than the left to turn.