Test Motors/Encoders

Release: >0.906

Description

This function sends a test command to the controller to exercise the motors and read values from the encoders.

Process

Each axis is tested individually. For a stock machine (two motors and z-axis) the test sequence is:

• Left Motor
• Right Motor
• Z-Axis

For each motor, the following actions are taken (based upon current stock firmware as of 11/27/19):

Forward Motion Test:

• Encoder position is read and stored.
• Motor is run “forward” at full power for one second
• Encoder position is read and stored.
• If the difference between the ending encoder position value and beginning encoder position value is greater than 500 steps, then indicate a PASS, otherwise indicate a FAIL.

Reverse Motion Test:

• Encoder position is read and stored.
• Motor is run “reverse” at full power for one second
• Encoder position is read and stored.
• If the difference between the ending encoder position value and beginning encoder position value is less than than 500 steps, then indicate a PASS, otherwise indicate a FAIL.

Interpretation