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Colony Scout: Diagnostics Station

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Uploaded on Nov 5, 2009

The Scout Diagnostics Station is designed to thoroughly test all major systems. Robots autonomously navigate to the station, or can be manually placed in the queue.

At the first stage, ,motors and encoders are tested under load on the chassis dyno, and localization beacons are assessed. The cliff bridge tests all three underbody cliff sensors while the robot drives to the third station.

Perhaps the most complex, the accel/gyro station puts the robot through simulated motions to properly calibrate the three axis accelerometer and yaw gyro.

During the test, data is logged over wireless to the diagnostics server. The server is also responsible for managing scheduling and sending test commands to the robot in real time. The server intercepts any tasks sent to the robot while a test is running and transmits them after the test or lets the sender know the robot is busy.

"Stair climbing" -- seen at the end of the movie was an unexpected capability of the Scout. Obviously the size and variation of acceptable geometries is quite narrow, but it makes for an exciting demo nonetheless.

More videos to follow! www.danshope.com/blog

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