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Testing Shooter

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Ryan edited this page Feb 6, 2016 · 14 revisions

The robot shooter subsystem runs the mechanism for firing balls, commands consisting mainly of logically controlled actions. Testing will be done by command, cycling through the different functions and the commands that run them. Starting with the simplest commands and working upwards.

1) Discharge Ball

  • Map DriveShooterIn to button A1
  • Map DriveShooterOut to button B1
  • Map DriveShooterStop to release button A1, B1
  • Map DischargeBall to button Y1

1.A - Unplug the two shooter motors.
1.B - Plug in shooter motor number 1.
1.C - Briefly press and release button A1 to see if shooter motor 1 is turning in the intake direction (take note of the LED color on the motor controller) the gears are operating smoothly, and the motors and gears stop when the button is released.
1.D - Press and hold button A1 to see if the motor reaches the proper speed then release button A1 to stop (how do we verify the proper speed?).
1.E - Briefly press and release button B1 to see if shooter motor 1 is turning in the outtake direction (take note of the LED color on the motor controller) the gears are operating smoothly, and the motors and gears stop when the button is released.
1.F - Press and hold button B1 to see if the motor reaches the proper speed then release button B1 to stop (how do we verify the proper speed?).
1.G - Unplug shooter motor 1 and plug in shooter motor 2.
1.H - Repeat steps 1.C through 1.F with motor 2.
1.I - Plug in shooter motors 1 and 2.
1.J - Repeat steps 1.C through 1.F with both motors connected.
1.K - Press button Y1 to see if the motors turn on for 1 second and then stop.

2) Harvester Roller

  • Map B1 to Harvest Rollers-in
  • Map A1 to Harvest Rollers-out
  • Map second joystick to Drive
  • A second x-box controller will be required
  • Put the robot up on blocks
    2.A - Press B1 the rollers should rotate in (take note of the LED color on the motor controller).
    2.B - Release B1 the rollers should stop (take note of the LED color on the motor controller).
    2.C - Push B1 while moving second joystick forwards, ensure that the gears/roller is rotating in (take note of the LED color on the motor controller), while also driving in the correct orientation.
    2.D - Release B1 while continuing to hold the joystick, the rollers should stop (take note of the LED color on the motor controller) , the drive base wheel should continue unaffected.
    2.E - Release the joystick allowing it to return to a neutral position, the drive wheels should stop.
    2.F - Press A1 the rollers should rotate out (take note of the LED color on the motor controller).
    2.G - Release A1 the rollers should stop (take note of the LED color on the motor controller).
    2.H - Push A1 while moving second joystick forwards, ensure that the gears/roller is rotating out (take note of the LED color on the motor controller) while also driving in the correct orientation.
    2.I - Release the joystick,the drive wheels should stop, the intake roller should continue (take note of the LED color on the motor controller).
    2.J - Release A1, the rollers should stop (take note of the LED color on the motor controller).
    2.K - to do later: investigate auto-stop.

3) Shoot Ball

  • Map Shoot to button A1
  • Map Stop-Shooter to the release of A1
  • Put the robot up on blocks
  • Prerequisite: Test 1 completed
    3.A - Unplug the two shooter motors and the harvester motor.
    3.B - Press button A1 and ensure that the gears and rollers are rotating out (take note of the LED color on the motor controller).
    3.C - Plug in shooter motors 1 and 2.
    3.D - Repeat steps 1.C through 1.F with both motors connected.
    3.E - Press button Y1 to see if the motors turn on for 1 second and then stops.

4) Right Shooter Arm

  • Map DriveShooterIn to button A1
  • Map DriveShooterOut to button B1
  • Map DriveShooterStop to button X1
  • Map DischargeBall to button Y1
  • Map PositionArmUp to button C1
  • Map PositonArmDown to button D1
  • Have mechanical disconnect the motor not being tested including the gear attached
    4.A - Briefly press and release button C1 to see if the right arm motor is turning in the correct direction and the motor stops when the button is released.
    4.B - Press and hold button C1 to see if the right arm motor reaches the proper speed then release button C1 to stop (how do we verify the proper speed?).
    4.C - Briefly press and release button D1 to see if the arm motors is turning in the downward direction and the motors stop when the button is released.
    4.D - Press and hold button D1 to see if the motor reaches the proper speed then release button D1 to stop (how do we verify the proper speed?).
    4.E - Press the bottom limit sensor, then press button D1, nothing should move.
    4.F - Press D1 then press the bottom limit sensor, the motor should stop.

5) Left Shooter Arm

  • Map DriveShooterIn to button A1
  • Map DriveShooterOut to button B1
  • Map DriveShooterStop to button X1
  • Map DischargeBall to button Y1
  • Map PositionArmUp to button C1
  • Map PositonArmDown to button D1
  • Have mechanical disconnect the motor not being tested including the gear attached
    5.A - Briefly press and release button C1 to see if the left arm motor is turning in the correct direction and the motor stops when the button is released.
    5.B - Press and hold button C1 to see if the right arm motor reaches the proper speed then release button C1 to stop (how do we verify the proper speed?).
    5.C - Briefly press and release button D1 to see if the arm motor is turning in the downward directionand the motors stop when the button is released.
    5.D - Press and hold button D1 to see if the arm motor reaches the proper speed then release button D1 to stop (how do we verify the proper speed?).
    5.E - Press the bottom limit sensor, then press button D1, nothing should move.
    5.F - Press D1 then press the bottom limit sensor, the motor should stop.

6) Position Shooter Arms

  • Map DriveShooterIn to button A1
  • Map DriveShooterOut to button B1
  • Map DriveShooterStop to button X1
  • Map DischargeBall to button Y1
  • Map PositionArmUp to button C1
  • Map PositonArmDown to button D1
  • Have mechanical disconnect the motor not being tested including the gear attached
    6.A - Disconnect the motors.
    6.C - Connect the right motor.
    6.B - Briefly press and release button C1 to see if the right motor is turning in the correct direction the gears are operating smoothly, and the motors and gears stop when the button is released.
    6.D - Press and hold button C1 to see if the right motor reaches the proper speed then release button C1 to stop (how do we verify the proper speed?).
    6.E - Briefly press and release button D1 to see if the arm motors is turning in the downward direction the gears are operating smoothly, and the motors and gears stop when the button is released.
    6.F - Press and hold button D1 to see if the motor reaches the proper speed then release button D1 to stop (how do we verify the proper speed?).
    6.G - Press the bottom limit sensor, then press button D1, nothing should move.
    6.H - Press D1 then press the bottom limit sensor, the arm should stop.
    6.I - Disconnect the right motor.
    6.J - Connect the left motor and repeat steps 4.B- 4.H.
    6.K - Press D1 then press the bottom limit sensor, the arm should stop.
    6.I - Reconnect the right motor and repeat steps 4.B - 4.H.

7) Test Safe Arm Actuation

  • Map MoveArm to a button that drives it slowly
  • Put the robot up on blocks
  • Unplug motors and remove gears attached
  • Start arm somewhere in the middle-ish
  • Turn on the robot

7.A - Disconnect the motors
7.B - Drive the arm up using button 7.C - Make sure that lights on speed controllers are flashing/solid as expected
7.D - Check output logs to make sure speeds are being set as expected
7.E - Move arms to make sure motor speed are being set as expected as arms get out of sync

  • If one arm is ahead of another it should slow down so the other can catch up

7.F - Press down limit switches while driving motors to ensure that output stops
7.G - Reconnect motors and gears on one side
7.H - Tap button and then release, motor should turn on and quickly turn off
7.I - Press down limit switches and press button, arms should not move, release button then limits
7.J - Press down limit switch on the plugged in side and press button, arm should not move, lights should stop on the side you have plugged in, release button then limits
7.K - Press button and arm should move, release
7.L - Plug in the other side and attach gear, unplug the other side
7.M - Repeat F-K for this new side
7.N - Plug in both sides and attach all gears
7.O - Tap button and both arms should move then stop
7.P - Hold button and both arms should move
7.Q - Press and hold one arm so it slowly moves, other should slow down
7.R - Slowly lower arm into the limit switches, it should stop moving

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