testing.md

Testing Area

Setup

• We tested with 16 printed 0.03 meter fiducials and a floor sign to hold the goal fiducial

Requirements

• A Pupper 2.0 robot flashed with the low level Teensey software for the motor controllers

• A successful calibration and correctly configured motor IDs

• The RaspberryPi and RaspberryPi camera running with the latest software

Running

• Running the test is simple, once you have the calibrated pupper robot operating you can then run python3 /src/main.py

Unit Testing

• A test for the boundary generation, discretization, and graph search can be run through python3 /src/path_test.py

• This opens a pickled Environment object containing obstacle, agent, and goal data from a testing session and then performs a graph search using the PathFinder class

Example Robot Testing Configuration