Robot Testing

The Robnot Testing section covers reading data from the robot and sending commands to it.

Connecting to the Robot

Screenshot of the Robot Data tab

Connect the controller board to your computer using a USB cable, as communication is performed over USB (STM32 Virtual COM Port).
In the top-right corner, select the correct serial device name.
If the device is not listed, press Refresh on the left.
Press Connect on the right.
The connection status should display Connected.
You should see data being received from the robot. Try rotating the wheels to observe changes in the data.

Sending Commands (Hardware Testing Section)

Screenshot of the Hardware Testing

Get Serial Number

Each microcontroller has a unique serial number. Press Get under Get Serial Number. The serial number will be displayed at the top.

Reset Transform

Press the Reset button to reset the robot’s transform. The transform values should return to zero.

Inverse Kinematics

This command sets the robot’s vector motion. You can set the velocity for each axis individually and press Send. Press Stop to halt the robot. The robot should move in the desired direction.

Please ensure the robot is lifted when sending commands. Otherwise, the robot may move and cause damage.

Motor Speed

This command sets the speed of an individual motor. Select the motor from the drop-down menu, set the desired velocity, and press Send. Press Stop to halt the motor. Only the selected motor should move.

Please ensure the robot is lifted when sending commands. Otherwise, the robot may move and cause damage.

Set Software Emergency Stop

This command enables or disables the software emergency stop. Press Enable to activate it and Disable to deactivate it. When enabled, the status should change to Enabled and the red LED will illuminate.