Self Tests
20
Chapter 4
Self-Tests
AmigOS comes with built-in test routines that exercise AmigoBot's drive motors, sonars,
and accessories.
Power up or Reset the robot, then press the black Motors/Test button once. You may
press the Reset button at any time to disable self-tests.
An audible cue will alert you that you may have inadvertently engaged the self-tests.
Press the black Motors/Test button one again to engage self-tests. If you don’t press the
button a second time, self-tests automatically cancel after 10 seconds.
Motors Test
The first self-test exercises AmigoBot’s drive motors. During this test, the robot is not at all
conscious of bystanders. Please have everyone step back and remove any obstacles
from within a diameter of about two meters (6-8 feet) around the robot.
The motors self-test begins by engaging the right drive wheel then the left drive wheel,
each forward to complete one and one-half full turns counter-clockwise and then
clockwise, respectively.
Sonar Tests
Once the motors self-test completes, AmigoBot automatically moves on to test the
sonars.
You should hear the distinctive clicking sound as each sonar "pings" individually, each in
order clockwise, beginning with the sonar closest to the left wheel (sonar #0). The green
System LED blinks at a rate relative to the distance to a target; quicker as a target, such
as your hand, approaches.
The sonars are numbered 0 through 7. Press the black Motors/Test button to switch to the
next sonar.
Self Wander
After the last sonar test, press the red Reset button to return AmigoBot to its client-server
wait state. Or, press the Motors/Test button to enable Self-Wander mode.
Self-wander is a simple, yet robotically sophisticated program that has AmigoBot drive
entirely on its own around the room avoiding obstacles. Every few minutes, the robot will
stop, play sounds, spin in place, and then continue on its otherwise aimless journey.
Self-wander is a good demonstration and test of AmigoBot’s innate robotic abilities—
sensors and onboard intelligence—without having to connect with client—though with
very limited capabilities as compared with Saphira or other PC-based robotics client
applications.
Press the Reset button or switch power OFF at any time to cancel the self-wander test.
Place AmigoBot on the floor and have everyone step back
before
engaging self-tests.