Programming Order and Test Plan

Programming Order

Test Plan

Before Robot Exists

  1. Final State Machine Test in Sim (Full functional in Sim)
  2. Check CAD for Tooth Counts
  3. Obtain Limelight Locations

After Robot Exists

  1. Check Real Robot for Tooth Counts
  2. Continuity Test
  3. Power On Robot
  4. Deploy Code to Robot
  5. Set CAN IDs, Motor Names, Firmware
  6. Do Swoffsets
  7. Verify Tooth Count Mechanism Accuracy by manual movement
  8. Check mechanical backlash (slop)
  9. Get Soft limits for motors
  10. Test for motor directions
  11. PID Constants Tuning (Motion Magic)
  12. Test FreeSpin motors Current Draw and get baseline via Phoenix
    • Log in Spreadsheet
  13. Full Functional
  14. Tune Limelight
  15. Tune Interpolation Tables
  16. Tune Presets (use interpolation table results)
  17. Play Match
    • No Auto
    • Only Automated Aim
    • Record and Discuss
  18. Discuss with driveteam and ask what they need
  19. Play Match
    • No Auto
    • Only Manual Aim
    • Record and Discuss
  20. Test and Tune Auto
  21. Durability Testing
    • Lots of Matches w/ Auto
    • Film Every Match
  22. Win