def main():
if len(sys.argv) == 3:
serialID = sys.argv[2]
else:
serialID = 'LOCL'
linkbot = TestLinkbot(serialID)
print('Testing robot:', linkbot.getSerialId())
# Get firmware checksum
print('Firmware checksum:', linkbot.readEeprom(0x423, 2))
# Test LED
print('Testing LED...')
linkbot.setLedColor(255, 0, 0)
time.sleep(1)
linkbot.setLedColor(0, 255, 0)
time.sleep(1)
linkbot.setLedColor(0, 0, 255)
# Test buzzer
print('Testing buzzer...')
for i in range(440, 550, 5):
linkbot.setBuzzerFrequency(i)
linkbot.setBuzzerFrequency(0)
print('Current accel readings: ' + str(linkbot.getAccelerometer()))
print('Press all three buttons on the Linkbot...')
def buttonCB(button, state, timestamp):
global buttons
buttons = buttons & ~(1 << button)
linkbot.enableButtonEvents(buttonCB)
while buttons:
time.sleep(1)
print('Testing motor power...')
for i in range(1, 4):
linkbot.setMotorPower(i, 128)
time.sleep(1)
linkbot.setMotorPower(i, -128)
time.sleep(1)
linkbot.setMotorPower(i, 0)
print(
'Testing encoders... Move the encoders around to generate encoder events.'
)
def encoderCB(jointNo, angle, timestamp):
print(jointNo, angle, timestamp)
linkbot.enableEncoderEvents(5, encoderCB)
input('Press Enter to quit.')
linkbot.disableEncoderEvents()
def main():
if len(sys.argv) == 2:
serialID = sys.argv[1]
else:
serialID = 'LOCL'
linkbot = TestLinkbot(serialID)
print('Testing robot:', linkbot.getSerialId())
# Get firmware checksum
print('Firmware checksum:', linkbot.readEeprom(0x423, 2))
# Test LED
print('Testing LED...')
linkbot.setLedColor(255, 0, 0)
time.sleep(1)
linkbot.setLedColor(0, 255, 0)
time.sleep(1)
linkbot.setLedColor(0, 0, 255)
# Test buzzer
print('Testing buzzer...')
for i in range(440, 550, 5):
linkbot.setBuzzerFrequency(i)
linkbot.setBuzzerFrequency(0)
print('Current accel readings: ' + str(linkbot.getAccelerometer()))
print('Press all three buttons on the Linkbot...')
def buttonCB(button, state, timestamp):
global buttons
buttons = buttons & ~(1 << button)
linkbot.enableButtonEvents(buttonCB)
while buttons:
time.sleep(1)
# con = sql.connect('testlog.db')
initialize_tables(con.cursor())
cur = con.cursor()
# Check to see if this linkbot is in our database already. Add it if not
cur.execute('SELECT * FROM robot_type WHERE Id=\'{}\''.format(
linkbot.getSerialId()))
rows = cur.fetchall()
formFactor = None
if linkbot.getFormFactor() == Linkbot.FormFactor.I:
formFactor = "Linkbot-I"
motor2index = 2
elif linkbot.getFormFactor() == Linkbot.FormFactor.L:
formFactor = "Linkbot-L"
motor2index = 1
else:
formFactor = "UNKNOWN"
print("Testing LinkBot {}".format(linkbot.getSerialId()))
d = LinkbotDiagnostic(linkbot)
results = d.runLinearityTest()
now = time.strftime('%Y-%m-%d %H:%M:%S')
if len(rows) == 0:
cur.execute('INSERT INTO robot_type VALUES(\'{}\', \'{}\')'.format(
linkbot.getSerialId(), formFactor))
cur.execute("INSERT INTO linearity_tests "
"VALUES('{}', '{}', {}, {}, {}, {}, {}, {}, {}, {})".format(
linkbot.getSerialId(), now, results[0]['forward_slope'],
results[0]['forward_rvalue'], results[0]['backward_slope'],
results[0]['backward_rvalue'],
results[motor2index]['forward_slope'],
results[motor2index]['forward_rvalue'],
results[motor2index]['backward_slope'],
results[motor2index]['backward_rvalue']))
con.commit()
con.close()
linkbot.setBuzzerFrequency(440)
time.sleep(0.5)
linkbot.setBuzzerFrequency(0)
def oldmain():
if len(sys.argv) == 2:
serialID = sys.argv[1]
else:
serialID = 'LOCL'
linkbot = TestLinkbot(serialID)
print('Testing robot:', linkbot.getSerialId())
# Get firmware checksum
print('Firmware checksum:', linkbot.readEeprom(0x423, 2))
# Test LED
print('Testing LED...')
linkbot.setLedColor(255, 0, 0)
time.sleep(1)
linkbot.setLedColor(0, 255, 0)
time.sleep(1)
linkbot.setLedColor(0, 0, 255)
# Test buzzer
print('Testing buzzer...')
for i in range(440, 550, 5):
linkbot.setBuzzerFrequency(i)
linkbot.setBuzzerFrequency(0)
print('Current accel readings: ' + str(linkbot.getAccelerometer()))
print('Press all three buttons on the Linkbot...')
def buttonCB(button, state, timestamp):
global buttons
buttons = buttons & ~(1<<button)
linkbot.enableButtonEvents(buttonCB)
while buttons:
time.sleep(1)
con = sql.connect('testlog.db')
initialize_tables(con.cursor())
cur = con.cursor()
# Check to see if this linkbot is in our database already. Add it if not
cur.execute('SELECT * FROM robot_type WHERE Id=\'{}\''.format(linkbot.getSerialId()))
rows = cur.fetchall()
formFactor = None
if linkbot.getFormFactor() == Linkbot.FormFactor.I:
formFactor = "Linkbot-I"
motor2index = 2
elif linkbot.getFormFactor() == Linkbot.FormFactor.L:
formFactor = "Linkbot-L"
motor2index = 1
else:
formFactor = "UNKNOWN"
print ("Testing LinkBot {}".format(linkbot.getSerialId()))
d = LinkbotDiagnostic(linkbot)
results = d.runLinearityTest()
now = time.strftime('%Y-%m-%d %H:%M:%S')
if len(rows) == 0:
cur.execute('INSERT INTO robot_type VALUES(\'{}\', \'{}\')'.format(
linkbot.getSerialId(), formFactor))
cur.execute("INSERT INTO linearity_tests "
"VALUES('{}', '{}', {}, {}, {}, {}, {}, {}, {}, {})".format(
linkbot.getSerialId(),
now,
results[0]['forward_slope'],
results[0]['forward_rvalue'],
results[0]['backward_slope'],
results[0]['backward_rvalue'],
results[motor2index]['forward_slope'],
results[motor2index]['forward_rvalue'],
results[motor2index]['backward_slope'],
results[motor2index]['backward_rvalue']))
con.commit()
con.close()
linkbot.setBuzzerFrequency(440)
time.sleep(0.5)
linkbot.setBuzzerFrequency(0)
def startTests(self):
try:
linkbot = TestLinkbot('LOCL')
x,y,z = linkbot.getAccelerometer()
if abs(x) > 0.1 or \
abs(x) > 0.1 or \
abs(z-1) > 0.1:
QtGui.QMessageBox.warning(self,
"Accelerometer readings have anomalies!")
con = sql.connect('testlog.db')
initialize_tables(con.cursor())
cur = con.cursor()
# Check to see if this linkbot is in our database already. Add it if not
cur.execute('SELECT * FROM robot_type WHERE Id=\'{}\''.format(linkbot.getSerialId()))
rows = cur.fetchall()
formFactor = None
if linkbot.getFormFactor() == Linkbot.FormFactor.I:
formFactor = "Linkbot-I"
motor2index = 2
elif linkbot.getFormFactor() == Linkbot.FormFactor.L:
formFactor = "Linkbot-L"
motor2index = 1
else:
formFactor = "UNKNOWN"
print ("Testing LinkBot {}".format(linkbot.getSerialId()))
d = LinkbotDiagnostic(linkbot)
results = d.runLinearityTest()
now = time.strftime('%Y-%m-%d %H:%M:%S')
if len(rows) == 0:
cur.execute('INSERT INTO robot_type VALUES(\'{}\', \'{}\')'.format(
linkbot.getSerialId(), formFactor))
cur.execute("INSERT INTO linearity_tests "
"VALUES('{}', '{}', {}, {}, {}, {}, {}, {}, {}, {})".format(
linkbot.getSerialId(),
now,
results[0]['forward_slope'],
results[0]['forward_rvalue'],
results[0]['backward_slope'],
results[0]['backward_rvalue'],
results[motor2index]['forward_slope'],
results[motor2index]['forward_rvalue'],
results[motor2index]['backward_slope'],
results[motor2index]['backward_rvalue']))
con.commit()
con.close()
self.ui.m1f.setText(str(results[0]['forward_slope']))
self.ui.m1fl.setText(str(results[0]['forward_rvalue']))
self.ui.m1b.setText(str(results[0]['backward_slope']))
self.ui.m1bl.setText(str(results[0]['backward_rvalue']))
self.ui.m2f.setText(str(results[motor2index]['forward_slope']))
self.ui.m2fl.setText(str(results[motor2index]['forward_rvalue']))
self.ui.m2b.setText(str(results[motor2index]['backward_slope']))
self.ui.m2bl.setText(str(results[motor2index]['backward_rvalue']))
speeds = [
results[0]['forward_slope'],
results[0]['backward_slope'],
results[motor2index]['forward_slope'],
results[motor2index]['backward_slope'],
]
linearities = [
results[0]['forward_rvalue'],
results[0]['backward_rvalue'],
results[motor2index]['forward_rvalue'],
results[motor2index]['backward_rvalue'],
]
if any(abs(x) < 210 for x in speeds):
self.ui.lineEdit_status.setText('FAIL')
elif any(x < 0.99 for x in linearities):
self.ui.lineEdit_status.setText('FAIL')
else:
self.ui.lineEdit_status.setText('Pass')
except Exception as e:
QtGui.QMessageBox.warning(self,
"Test Failed: " + str(e))
def main():
if len(sys.argv) == 3:
serialID = sys.argv[2]
else:
serialID = 'LOCL'
linkbot = TestLinkbot(serialID)
print('Testing robot:', linkbot.getSerialId())
# Get firmware checksum
print('Firmware checksum:', linkbot.readEeprom(0x423, 2))
# Test LED
print('Testing LED...')
linkbot.setLedColor(255, 0, 0)
time.sleep(1)
linkbot.setLedColor(0, 255, 0)
time.sleep(1)
linkbot.setLedColor(0, 0, 255)
# Test buzzer
print('Testing buzzer...')
for i in range(440, 550, 5):
linkbot.setBuzzerFrequency(i)
linkbot.setBuzzerFrequency(0)
print('Current accel readings: ' + str(linkbot.getAccelerometer()))
print('Press all three buttons on the Linkbot...')
def buttonCB(button, state, timestamp):
global buttons
buttons = buttons & ~(1<<button)
linkbot.enableButtonEvents(buttonCB)
while buttons:
time.sleep(1)
print('Testing motor power...')
for i in range(1,4):
linkbot.setMotorPower(i, 128)
time.sleep(1)
linkbot.setMotorPower(i, -128)
time.sleep(1)
linkbot.setMotorPower(i, 0)
print('Testing encoders... Move the encoders around to generate encoder events.')
def encoderCB(jointNo, angle, timestamp):
print(jointNo, angle, timestamp)
linkbot.enableEncoderEvents(5, encoderCB)
input('Press Enter to quit.')
linkbot.disableEncoderEvents()
def startTests(self):
try:
linkbot = TestLinkbot('LOCL')
x,y,z = linkbot.getAccelerometer()
if abs(x) > 0.1 or \
abs(x) > 0.1 or \
abs(z-1) > 0.1:
QtGui.QMessageBox.warning(self,
"Warning",
"Accelerometer readings have anomalies!")
global db_file
con = sql.connect(db_file)
initialize_tables(con.cursor())
cur = con.cursor()
# Check to see if this linkbot is in our database already. Add it if not
cur.execute('SELECT * FROM robot_type WHERE Id=\'{}\''.format(linkbot.getSerialId()))
rows = cur.fetchall()
formFactor = None
if linkbot.getFormFactor() == linkbot3.FormFactor.I:
formFactor = "Linkbot-I"
motor2index = 2
elif linkbot.getFormFactor() == linkbot3.FormFactor.L:
formFactor = "Linkbot-L"
motor2index = 1
else:
formFactor = "UNKNOWN"
print ("Testing LinkBot {}".format(linkbot.getSerialId()))
d = LinkbotDiagnostic(linkbot)
results = d.runLinearityTest()
now = time.strftime('%Y-%m-%d %H:%M:%S')
if len(rows) == 0:
cur.execute('INSERT INTO robot_type VALUES(\'{}\', \'{}\')'.format(
linkbot.getSerialId(), formFactor))
cur.execute("INSERT INTO linearity_tests "
"VALUES('{}', '{}', {}, {}, {}, {}, {}, {}, {}, {})".format(
linkbot.getSerialId(),
now,
results[0]['forward_slope'],
results[0]['forward_rvalue'],
results[0]['backward_slope'],
results[0]['backward_rvalue'],
results[motor2index]['forward_slope'],
results[motor2index]['forward_rvalue'],
results[motor2index]['backward_slope'],
results[motor2index]['backward_rvalue']))
con.commit()
con.close()
self.ui.m1f.setText(str(results[0]['forward_slope']))
self.ui.m1fl.setText(str(results[0]['forward_rvalue']))
self.ui.m1b.setText(str(results[0]['backward_slope']))
self.ui.m1bl.setText(str(results[0]['backward_rvalue']))
self.ui.m2f.setText(str(results[motor2index]['forward_slope']))
self.ui.m2fl.setText(str(results[motor2index]['forward_rvalue']))
self.ui.m2b.setText(str(results[motor2index]['backward_slope']))
self.ui.m2bl.setText(str(results[motor2index]['backward_rvalue']))
speeds = [
results[0]['forward_slope'],
results[0]['backward_slope'],
results[motor2index]['forward_slope'],
results[motor2index]['backward_slope'],
]
linearities = [
results[0]['forward_rvalue'],
results[0]['backward_rvalue'],
results[motor2index]['forward_rvalue'],
results[motor2index]['backward_rvalue'],
]
if any(abs(x) < 210 for x in speeds):
self.ui.lineEdit_status.setText('FAIL')
elif any(x < 0.93 for x in linearities):
self.ui.lineEdit_status.setText('FAIL')
else:
self.ui.lineEdit_status.setText('Pass')
except Exception as e:
QtGui.QMessageBox.warning(self,
"Warning",
"Test Failed: " + str(e))
