Test Plan
1.Snappy GUI: It contains frontend files. The files were debugged and tested without errors
The GUI has several dependencies and developer dependencies on other softwares. It is up to date with all the latest versions of the dependent softwares
2.Snappy Logic nodes: It contains logical nodes to perform a set of operations as per the input given. For ex differential drive node. It was tested by connecting the input motors,Differential drive node was connected and the output of the working of motors was as expected. The code written was successfully debugged and tested.
3.Snappy IO nodes: It contains input output nodes to perform a test. For ex Motor testing. The motor node was dragged and connected to the output node for checking the motor direction. The code written was successfully debugged and tested.
4.Snappy ROS: It helps the software to connect to the ROS. It has several dependencies and all are up to date
1. Ultrasonic sensor: The connections were made as per the pinouts and it was able to detect an object till a range of 1m.
2. Motor Drivers: The motors were connected to the drivers and the drivers were attached to the board. The power was turned on. The drivers were checked for proper current rating.
3. Motors: The motors were powered to check the proper rotation of the shaft in both the directions.
4. Encoder: The sensor was connected to the board and the proper functioning of the sensor was analysed through the serial monitor.
1. Board Casing: The board was fixed to the casing and the dimension of the casing were verified. The casing was placed on the bot surface and the bot was allowed to move on various terrains. The casing was strong enough and did not cause any damage to the board. The board was not affected by the vibrations caused by the movement of the bot.
2. Heat sink: The heat sink was first checked for the proper dimension with the space provided on the the board. The board was powered for a long duration. The heat sink was able to dissipate the heat generated by the board. This was verified as the board did not heat up.
3. Bot: The bot was assembled as per the design developed in the Solidworks software. The motors were connected to the frame.The wheels were attached and the belt was connected to the wheels of the motors. One motor was powered and rest were driven by the belt drive. The bot was checked for working in various terrains. It was able to move and it was also able to carry a payload of around 120Kgs. The ribs were able to distribute the load applied across the bot surface equally preventing the bending of the loading surface of the bot
The ultrasonic sensor, the encoder and the motor drivers were connected to the board. The board was powered through the PC. The sensors and the drivers were powered through the board. The IO nodes for the motors were connected along with the nodes for ultrasonic sensor and for encoder as per the flow required. The working of the motors was checked with proper functioning of the sensor. The motors stopped when an obstacle was detected by the sensor. The rotations completed by the motor was calculated by using the encoder value.
The motors were fixed to the frame of the bot. The electrical components were placed on the inside part of the bot. The connections were made. The motors were powered by the battery. The movement of the bot was checked. The bot was made to run on various platforms to check for the motors working and for the placed electrical components. The components were fixed to the placed attach and did not move. The battery was capable enough to power all the components as well as all the motors.
The motors were attached to the frame. The electrical components i.e the board, the motor drivers, the encoders were fixed to the bot surface and to the frame of the bot. The sensors, the encoders and the motor drivers were connected to the board. The board and the motors were powered through the battery. The other electrical components were powered through the board. The IO nodes for the motors, sensors and encoders were attached according to the required flow control. The logic node i.e differential drive node was connected and the logic was deployed on the board. The bot moved in the terrain and detected obstacles and stopped the bot and moved once obstacle was cleared. The bot was able to take free rotations. The distance traveled by the bot was calculated using the encoder reading.