Functions to be Tested

Current design

Preliminaries

  • Communication test (required for all measurements)

Measurements

  • BOM
    • Emitters: four readings from RBOM
    • Detectors: readings with RBOM light on/off
  • Rangefinders: Output value over distance (wall)
  • Motors: Speed (from station encoders) over PWM value
  • Encoders: Value over position (from station encoders)

Analysis

  • BOM
    • Emitters: alignment
    • Detectors: sensitivity
  • Rangefinders
    • maximum/minimum distance
    • curve parameters (linearity/loggishness)
  • Motors
  • Turn-on PWM value and turn-off PWM value (different!)
    • Linearity
    • Maximum speed
  • Encoders: distance over values (wheel diameter)

Possible extensions

  • BOM
    • 360 degree signal reception
    • 360 degree signal emission
    • vertical signal emission
  • Homing Detector
    • Detection of left, center, and right pulse width emitter values
  • Basic communication / network interaction
    • Latency test