Testing Manual Override

The robot manual overrides are the simplest commands, consisting almost exclusively of a single method, running while the button is active and stopping immediately once it is released. Testing will be done by subsystem, cycling through the commands for each one.

1) Drive

• DriveWithJoysticks should already run automatically
• Map MO_ClutchOn to button A1
• Map MO_ClutchOff to button B1

1.A - Press Button A1, See that the clutch connects to the winch
1.B - Press Button B1, See that the clutch is no longer connected to the winch
1.C - If clutch works correctly and is deactivated, try driving backwards
1.D - If wheels turn and climber does not react, try driving forwards and try turning.

2) Harvester

• Map MO_BallControlIn to button A1
• Map MO_BallControlOut to button B1
• Map MO_ShooterIn to button X1
• Map MO_ShooterOut to button Y1
• Map MO_ArmUp to LB1
• Map MO_ArmDown to RB1
• Map ArmStop to A2
• Map StopShooter to Start1
• Map BallControlOff Back1

2.A - Drive the Ball Control forwards and backwards, make sure to check whether it makes any odd noises or obviously spins at different speeds.
2.B - Drive the Shooter forwards and backwards, same rules as above.
2.C - Move the Tilt up and down, make sure that it stops promptly and doesn't drift in addition to the above rules.

3) Climber

• Map MO_ClutchOn to A1
• Map MO_ClutchOff to B1
• Map LatchClose to X1
• Map LatchRelease to Y1

3.A Check that the clutch is currently disengaged.
3.B Make sure climb arms are in extended position.
3.C Verify current latch is currently open. If not, press Y1 and open latch.
3.D Press X1, then check that latch is closed.
3.E Press Y1, then check that latch is open.
3.F Press A1 and verify that clutch disengages.
3.G Press B1 and verify that clutch engages.
3.H Disengage the clutch.