fpstovall/nrtb_alpha — pull request #20 by fpstovall (2014-10-29 01:27:53+00:00)
Title: cal_bot: A bot control program which measures drive performance.

cal_bot is complete and well exercised. It runs three calibration tests, linear acceleration, braking deceleration, and turn rate. All measurements are in the bot context, meaning timing does not hit quanta intervals precisely, but the measured values have been running within 1% of expected; pretty good given the short sampling periods.

Configuration parameters are provided for server address and all 6 testing control values. When started, this BCP immediately connects to the simengine, runs its tests and exits. Here are the results from a typical run:

[rstovall@gabbie cal_bot]$ ./cal_bot
Read 9 parameters.
READY
Accelleration:
3.33333(m/s) / 1.00038(s) = 3.33206 m/s^2

Decelleration:
3.33333(m/s) / 0.500386(s) = 6.66152 m/s^2

Turn Rate:
Set Rate: 720.002 d/s
Measured: 719.371 d/s
[rstovall@gabbie cal_bot]$