User manual

RP6 ROBOT SYSTEM - 3. Hardware and Software Setup
Next one is the IRCOMM test procedure, which can be startet by entering 'x'. The pro-
cedure starts transmitting IR data-packets, displays received packets in the terminal
and automatically checks if the received data is OK (using rather powerful IR-diodes,
the IRCOMM usually will receive it's own signals back. Only in the absence of any re-
flecting objects or a ceiling the system may eventually fail – but this would be a very
unusual condition).
The output should look like this:
#### TEST #7 ####
IRCOMM Test
[...]
TX RC5 Packet: 0
RX RC5 Packet --> Toggle Bit:0 | Device Address:0 | Key Code:0 --> OK!
TX RC5 Packet: 3
RX RC5 Packet --> Toggle Bit:0 | Device Address:3 | Key Code:3 --> OK!
TX RC5 Packet: 6
RX RC5 Packet --> Toggle Bit:0 | Device Address:6 | Key Code:6 --> OK!
TX RC5 Packet: 9
RX RC5 Packet --> Toggle Bit:0 | Device Address:9 | Key Code:9 --> OK!
TX RC5 Packet: 12
RX RC5 Packet --> Toggle Bit:0 | Device Address:12 | Key Code:12 --> OK!
[...]
TX RC5 Packet: 57
RX RC5 Packet --> Toggle Bit:1 | Device Address:25 | Key Code:57 --> OK!
TX RC5 Packet: 60
RX RC5 Packet --> Toggle Bit:1 | Device Address:28 | Key Code:60 --> OK!
TX RC5 Packet: 63
RX RC5 Packet --> Toggle Bit:1 | Device Address:31 | Key Code:63 --> OK!
Test finished!
Done!
The Test should take about 5 seconds.
Finally we will proceed with the Motor and Encoder Test! You
must pick up the RP6 with your hands – the caterpillars must
not touch the floor or any other objects!
Otherwise the test will most likely fail! If you put the RP6 on
top of an object like described above, please make sure the
RP6 cannot accidently fall off the table.
This test will not take too long – approximately 30 seconds. Carefully check for error
messages in this test! It may happen that a single measurement fails, causing the test
sequence to end with an error message. If the motors are starting as expected and
the test is aborted somewhere in the middle, there is nothing to worry about. If this
happens, please retry – after reading the “Troubleshooting”-chapter in the appendix!
The test procedure will ramp up both motor speeds up to 50% of the maximum speed
and will alternate the turning direction of the motors a few times. The system will con-
- 50 -