Testing module

Package: com.crossbotics.ftchelper.testing

Learn it hands-on: 19 Testing procedures. Full guide: Testing procedures.

Checks that every motor, servo and sensor is wired and named right, before you write robot code. Run it on a new robot, after rewiring, and whenever a part acts strangely. It needs no code from you, only the tiny file below.

HardwareCheckOpMode

HardwareCheckOpMode is a ready-made OpMode that lists every device in the active robot configuration and lets you test each one. Make this tiny file in TeamCode:

@TeleOp(name = "Hardware Check", group = "Test")
// "extends": it IS the library's hardware check; the empty { } adds nothing of our own
public class HardwareCheck extends HardwareCheckOpMode { }

It finds: motors, continuous-rotation (CR) servos that spin like a motor, servos, the IMU, touch sensors, digital channels (magnetic switches, beam breaks), color and distance sensors, analog inputs, webcams and Limelights. It also shows the battery voltage and warns below 12.0 V.

Gamepad 1	Does
D-pad up / down	choose a device (changing stops the last one)
Motor or CR servo: right stick Y	power, max 50% (hold right bumper for 100%)
Motor: A	zero the encoder
Servo: D-pad right / left	+/- 0.01
Servo: bumpers	+/- 0.1
Servo: X	go to 0.5

A servo does not move until you press a servo button. For each device it shows what to check, for example “positive power turns the way you expect, and the encoder counts UP”.

Put the robot on a block before testing drive motors.