FieldTest

Includes a series of different starter tests we would run in the field to help debug issues quickly

Running Executables

Remember, it is important to build in the main folder (see primary README). To run an executable, do the following

cd /path/to/FullscalePrime/build/FieldTest
sudo ./<EXECUTABLE_NAME>

Lift Servo Test

Runs lift servo to either lock or unlock the lift.

Functions

int main()

Main Method: Runs lift servo to either lock or unlock the lift.

Returns:: Method status

Variables

const int LIFT_SERVO = 2: RPI GPIO pin for servo.

const int LIFT_LOCK = 1750: Servo pulse width for lock configuration.

const int LIFT_UNLOCK = 1300: Servo pulse width for unlock configuration.

Level Servo Test

Runs level servo to tilt the level up or down.

Functions

int main()

Main method: Runs level servo to tilt the level up or down.

Returns:: exit status

Variables

const int LEVEL_SERVO = 3: RPI GPIO Pin for Level Servo.

Level Lock Test

Locks the level at its default configuration.

Functions

int main()

Main Method: Locks the level at its default configuration.

Returns:: exit status

Variables

const int LEVEL_SERVO = 3: RPI GPIO pin for level servo.

Nacelle Servo Test

Runs nacelle locking servo to either lock or unlock the nacelles.

Functions

int main()

Main Method: Runs nacelle locking servo to either lock or unlock the nacelles.

Returns:: exit status

Variables

const int NACELLE_SERVO = 14: RPI GPIO pin for nacelle locking servo.

const int NACELLE_LOCK = 1600: Pulse width to lock nacelles.

const int NACELLE_UNLOCK = 755: Pulse width to unlock nacelles.

Lift Arrow Test

Runs lift up or down.

Functions

int main()

Main method: Runs lift up or down.

Returns:: exit status

Variables

const int LIFT_P = 20: RPi GPIO Pin for positive lift motor terminal.

const int LIFT_N = 16: RPi GPIO Pin for negative lift motor terminal.

const int LIFT_ENABLE = 12: RPi GPIO Pin for lift motor enable.

const int LIFT_STANDBY = 21: RPi GPIO Pin for lift motor controller standby.

const int PWM_MOTOR_MAX = 255: Max PWM Signal for motor to run full speed.

RCB Arrow Test

Runs RCB Motor clockwise or counterclockwise.

Functions

int main()

Main Method: Runs RCB Motor clockwise or counterclockwise.

Returns:: exit status

Variables

const int RCB_P = 26: RPi GPIO Pin for positive RCB motor terminal.

const int RCB_N = 19: RPi GPIO Pin for negative RCB motor terminal.

const int RCB_ENABLE = 13: RPi GPIO Pin for RCB motor enable.

const int RCB_STANDBY = 21: RPi GPIO Pin for RCB motor controller standby.

const int PWM_MOTOR_MAX = 255: Max PWM Signal for motor to run full speed.

Swivel 1 Test

Swivels nacelle 1 left or right.

Functions

int main()

Main Method: Swivels nacelle 1 left or right.

Returns:: exit status

Variables

const int STEPS_PER_REVOLUTION = 200: Number of steps for full revolution for stepper motor.

const int STEPPER_SPEED = 5: Speed of stepper motor (unitless)

const int NUM_STEPS = 40: Number of steps run in single key press.

const int STEPPER_1_STANDBY_PIN = 0: RPi GPIO Pin for stepper 1 standby.

const int STEPPER_1_PIN_1 = 11: RPi GPIO Pin for stepper 1 pin 1.

const int STEPPER_1_PIN_2 = 9: RPi GPIO Pin for stepper 1 pin 2.

const int STEPPER_1_PIN_3 = 5: RPi GPIO Pin for stepper 1 pin 3.

const int STEPPER_1_PIN_4 = 6: RPi GPIO Pin for stepper 1 pin 4.

Swivel 2 Test

Swivels nacelle 2 left or right.

Functions

int main()

Main Method: Swivels nacelle 2 left or right.

Returns:: exit status

Variables

const int STEPS_PER_REVOLUTION = 200: Number of steps for full revolution for stepper motor.

const int STEPPER_SPEED = 5: Speed of stepper motor (unitless)

const int NUM_STEPS = 34: Number of steps run in single key press.

const int STEPPER_2_STANDBY_PIN = 27: RPi GPIO Pin for stepper 2 standby.

const int STEPPER_2_PIN_1 = 17: RPi GPIO Pin for stepper 2 pin 1.

const int STEPPER_2_PIN_2 = 4: RPi GPIO Pin for stepper 2 pin 2.

const int STEPPER_2_PIN_3 = 22: RPi GPIO Pin for stepper 2 pin 3.

const int STEPPER_2_PIN_4 = 10: RPi GPIO Pin for stepper 2 pin 4.

Swivel 3 Test

Swivels nacelle 3 left or right.

Functions

int main()

Main Method: Swivels nacelle 3 left or right.

Returns:: exit status

Variables

const int STEPS_PER_REVOLUTION = 200: Number of steps for full revolution for stepper motor.

const int STEPPER_SPEED = 5: Speed of stepper motor (unitless)

const int NUM_STEPS = 60: Number of steps run in single key press.

const int STEPPER_3_STANDBY_PIN = 8: RPi GPIO Pin for stepper 3 standby.

const int STEPPER_3_PIN_1 = 7: RPi GPIO Pin for stepper 3 pin 1.

const int STEPPER_3_PIN_2 = 1: RPi GPIO Pin for stepper 3 pin 2.

const int STEPPER_3_PIN_3 = 25: RPi GPIO Pin for stepper 3 pin 3.

const int STEPPER_3_PIN_4 = 24: RPi GPIO Pin for stepper 3 pin 4.