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