servo test stand

Purpose

This software allows to perform some tests to verify that the hardware and software corresponds to the expected quality. It should:

1. Send setpoint (RawCommand message) with values from 0 to 1.0 in a given period of time (let's say 1 second) within given amount of time (let's say 1 day).

2. Subscribe on following data types:

• CircuitStatus
• NodeStatus
• LogMessage

3. Store few things in a file:

• all received LogMessage,
• timestamps of events when CircuitStatus or NodeStatus is not appear,
• timestamps of events when CircuitStatus has out of bound voltage,
• timestamps of events when NodeStatus has ERROR health,
• CircuitStatus and NodeStatus once per hour.
• Servo resource (count of movement iterations)

4. Allows to test simultaniously several devices (let's say 4 can-pwm nodes).

Hardware requirements

• SLCAN sniffer
• few CAN-PWM nodes

Software dependencies

• ubuntu at least 18:04
• python3
• pydronecan library
• can-utils

Installation

./scripts/install.sh

Usage

./scripts/create_slcan_from_serial.sh
python3 main.py