Main Page | Recent changes | Edit this page | Page history Printable version | Disclaimers | Privacy policy

Not logged in Log in | Help

Field Test 2004-11-20

From DGC Wiki

Contents [hide] 1 Santa Anita field test 1.1 lessons learned (more important than standard notes) 1.2 Notes 1.3 Code checkins 1.4 bugs

Santa Anita field test

Test Notes 11/20/04

---

lessons learned (more important than standard notes)

1. field testers should have root on laptops and race computers
2. between tests vehicle should be parked close enough to home base to string ethernet connection
3. plan out tests in detail beforehand
4. svn up and test code on race computers before test
5. Should have write access to all databases in the field, even for short field tests - includes taking down write access at Caltech (dgc-offline script)
6. put all test logs on lawrencium/dgc/test_logs with readmes in the field during downtime

Notes

1. if steering power is off, you can turn steering wheel
2. make sure to bring whiteboard markers
3. in arbiter.cc (arbiter2) - something taking a long time - either waitingForModules or updateVoterList (line 130)
4. H did not figure out how to log before the test. H is an idiot.
5. Commenting out waitingForModules ended up bypassing the logger for the joystick. This prevented the results of H's steering characterization from logging. Will have to redo tests.
6. bring mice for laptops

Code checkins

Please strikethrough when these commits are complete.

1. dkogan@blueparrot:dgc
2. dkogan fix and commit 1 sec pathfollower delay in PathFollowerMain.cc
3. vdrive.c line 978 - update for joystick/manual - steer_enable/steer_disable

bugs

Please strikethrough the bugs when you add them to bugzilla.

1. vehicles: RV needs to have the cover over the bathroom replaced - leaking water inside - bug 917
2. embedded: MAJOR - manual mode no longer works without using joystick since steering actuator is still powered, should have separate joystick and manual modes - bug 921
3. embedded: minor bug - if wheels straight on startup - assumes that it is not calibrated - bug 923
4. embedded: MAJOR bug - vdrive display doesn't show actual steering angle - shows commanded steering angle - bug 921
5. embedded: vdrive bug - additional mode for manual driving using steering wheel, brake, & throttle in addition to mode using joystick - bug 921
6. embedded: vdrive minor bug - need to be able to control joystick sensitivity by a parameter - bug 924
7. embedded: joystick torque limited steering motor during field test turning full right while stationary (trivial) - bug 922
8. sysadmin: make sure subversion shared object gets installed on lawrencium
   need modules/mod_dav_svn.so and possibly modules/mod_authz_svn.so - bug 918
9. sysadmin: field - allow read access only at caltech during field tests (update dgc-offline) - bug 916
10. sysadmin: bromine (and maybe other laptops) have power management problems - goes into coma - bug 919
11. embedded/vehicle: vdrive: in manual mode steering motor is not engaged, steering wheel does not turn is response to joystick commands
    in remote mode, steering responded properly, vdrive sparrow display shows joystick input properly. - bug 917
12. planning: trivial - dgc/include directory in svn but shouldn't be - (yes, it should)
13. planning: feature - write emacs plugin to insert unix time on hotkey - bug 927
14. planning (Dima, cc:H): path follower (major) - trajController should narrow nearest-point search to some interval around current point to track - bug 928
15. planning (Dima, cc:H): path following: sparrow display - 2 displays for command & steering - they are displaying different values - bug 929
16. planning: PathFollower and vdrive not talking (in vdrive direct drive mode) - bug 930
17. embedded: have vdrive query steering angle in manual mode (actual encoder counts) - bug 921
18. duncklee: add wiki update from lawrencium/home/team/wikiedits.txt to Sysadmin_FieldTest_TransferDB - bug 920
19. planning: path following (Dima, cc:H): CRITICAL: sparrow display in path following not updating properly - bug 931
20. sysadmin: investigate setting up bugzilla to queue emails while in the field and to send when returned - bug 925
21. sysadmin: make sure databases are back up and updated upon return - bug 926
22. Planning: simulation (dima, cc:H): Critical: Rewrite SimVStateVDrive to accept acceleration commands and bypass cruise control - bug 932

Edit this page | Discuss this page | Page history | What links here | Related changes Main Page | About DGC Wiki | Recent changes |   This page has been accessed 106 times. This page was last modified 03:43, 22 November 2004 by DGC Wiki user Dkogan. Based on work by DGC Wiki user(s) Lars and Duncklee.