SMR test

SMR test procedures

Currently two tests are implemented for the SMR's.

• A simple test checking that IR-sensors, linesensor and motorcontrollers are running and communicating with RHD and MRC.
• An advanced test that also includes guidemark's, and laser-based localisation.

Both tests are run by logging into the system as "test" and using the scripts found in the smr folder (/vhome/test/smr).

Simple Test

Place the SMR you want to test on teststand. Run the command from the smr folder.

test@localhost:~/test$ ./test smrX

Where smrX is the name of the SMR you are testing (fx. smr1).

Advanced Test

The advanced test uses a predefined course in the SMR-pit in the corner of room 027. The course is sketched below. It is necessary to put light-colored wooden planks along the base of the cabinet as the laser-scanner can't see the dark footing.

Place the SMR on the start spot. Run the following command.

test@localhost:~/test$ ./mobotwaretest smrX

The robot should say the guidemark numbers and should end up close to the starting point.