This is an important state to make sure the microcontroller will not lose a command if sent while performing another action. It will test what will happen if a command to go to mode comes in when moving back to the position when “blocking” “up” gravity moves the rod out of position. Starting Setup Tactile sensor depressed “up” Move to state command sent “up” Tactile sensor released “up” Actions Send command (before move to is complete) “blocking” “up” Expected Results Rod should be rotating to the position “up” Rod should then begin rotating to the position in slow “blocking” movement mode (before move to position is complete) “up” Kick from state “up” Basic test of kicking. Starting Setup Tactile sensor depressed “up” Move to state command sent “up” Actions Send command “kick” Expected Results Rod should move forward in high speed mode Actions Depress sensor “blocking” Expected Results Rod should move backwards to the position at slow speed “up” Actions Tactile sensor depressed “up” Expected Results Rod should stop moving Kick from state “blocking” Basic test of kicking, but now in blocking mode Starting Setup Tactile sensor depressed “blocking” Move to state command sent “blocking” Actions Send command “kick” Expected Results Rod should move backwards in high speed mode Actions Depress sensor “up” Expected Results
This is an important state to make sure the microcontroller will not lose a command if sent while performing another action. It will test what will happen if a command to go to “blocking” mode comes in when moving back to the “up” position when gravity moves the rod out of position. Starting Setup Tactile “up” sensor depressed Move to “up” state command sent Tactile “up” sensor released Actions Send “blocking” command (before move to “up” is complete) Expected Results Rod should be rotating to the “up” position Rod should then begin rotating to the “blocking” position in slow movement mode (before move to “up” position is complete) Kick from “up” state Basic test of kicking. Starting Setup Tactile “up” sensor depressed Move to “up” state command sent Actions Send “kick” command Expected Results Rod should move forward in high speed mode Actions Depress “blocking” sensor Expected Results Rod should move backwards to the “up” position at slow speed Actions Tactile “up” sensor depressed Expected Results Rod should stop moving Kick from “blocking” state Basic test of kicking, but now in blocking mode Starting Setup Tactile “blocking” sensor depressed Move to “blocking” state command sent Actions Send “kick” command Expected Results Rod should move backwards in high speed mode Actions Depress “up” sensor Expected Results
Final%20Paper-%20G30.docx