Testing procedures

For: the whole team: programmers, builders and drivers. You need: a robot that runs, and the Hardware Check OpMode on it.

Most robot problems at events are found in the pits by a 10-minute check. These procedures say what to check, when, and how. Print the checklists.

flowchart LR
    A["Code change"] --> B["Laptop tests<br/>./gradlew ... test"]
    B --> C["Bench check<br/>robot on a block"]
    C --> D["Floor check<br/>low power"]
    D --> E["Practice runs<br/>read reports"]
    E --> F["Event: pre-match check"]

1. Laptop tests (every code change)

./gradlew :TeamCode:testDebugUnitTest

This runs your team’s tests on the laptop, with Gradle (the tool that builds the code). Fast, no robot. Write tests for your own logic (tutorial 13).

2. Hardware check (after any wiring or configuration change)

Run the Hardware Check OpMode (starter kit, or module page). Robot on a block.

Device	Check	If wrong
every motor	moves with positive power the way you expect; encoder counts UP	.reversed(); check the encoder cable port
drive motors	each wheel rolls FORWARD with positive power	flip its ...Reversed in DriveConfig
servos	find and write down each position you need	use them in position(...) / range(...)
CR servos	spin both ways	configuration must say “Continuous Rotation Servo”
touch / magnetic switches	change when pressed / magnet near	wiring; magnetic: false = near
IMU	yaw goes UP when the robot turns LEFT	logo/USB directions in RobotSettings.imu
distance / color	sensible numbers	wiring, I2C port, configuration type
camera	listed; Limelight “connected”	USB / Ethernet cable, configuration name
battery	12.5 V or more when charged	charge or replace; under 12.0 V never play a match

3. Mechanism checks (after building or changing a mechanism)

Mechanism	Procedure	Pass
Lift / arm (PositionMotor)	1. Hard stops in place. 2. Low maxPower. 3. Home it (push down to the switch). 4. Drive by hand to each end: it slows and stops before the hard stop. 5. Each named position.	stops before hard stops; reaches each position in ~1 s; holds
Intake (SpinMotor)	in, out, stop; block it by hand (with jam detection)	backs out and goes on; jam count goes up
Servo parts	each named position; toggle; slow move	no buzzing at the ends (if it buzzes, the range is too wide)
Flywheel	spin to 3 speeds; compare telemetry RPM with a tachometer or slow-motion video	readings match within ~3%; READY within ~1 s
Launcher	shoot 1, then 3; block the turret check	each piece only when READY; whyNotReady names what is missing
Turret	home; aim at 0, 90, -90, 180 and back; manual to each limit	short way round; never past a limit; cables slack
Vision	point at a tag; read bearing (positive = left), distance with a tape measure	bearing sign right; distance within ~5%

4. Floor check (before practice runs)

1. powerLimit 0.4 (or the PRACTICE profile).
2. Drive: forward, strafe, turn, field-centric.
3. Every button on the driver’s sheet does what it says.
4. The match timer buzzes (test with a short new MatchTimer(30)).

5. Autonomous check

1. Run at low speed; read the step report.
2. Run as RED once.
3. Run with a start delay once.
4. Full speed: under ~28 s, parks.
5. Put a box in the way: the move ends STALLED and the robot stops pushing.

6. Event: before EVERY match (2 minutes)

• Battery 12.5 V+ (hardware check shows it), a spare on the cart
• Robot starts inside 18 in; everything folded; hard stops tight
• Lift/turret at their start positions (home switches in reach)
• Profile: COMPETITION, no “tuned values differ” warning
• Right autonomous selected, right alliance and delay in the menu
• Robot placed exactly as the INIT screen’s “Place robot” says
• After autonomous, TeleOp’s INIT screen says “Forward: from autonomous”
• Gamepads: 1 = driver (Start+A), 2 = operator (Start+B)

Without a robot: the simulator

Many problems show up before you touch the robot: a crash at INIT, a wrong button, a screen that does not fit. Run the OpMode in the simulator first.

7. After a problem

Write it down: what you did, what you expected, what happened, and the telemetry (debug ON). Then reproduce it on the bench before changing code. If it is a library bug, add a failing test first (Contributing).