Testing Repository
==================

This page documents the testing repository used for diagnostics, test code, and archived development artifacts for the RamBOT project.

Repository layout
-----------------
.. list-table::
   :header-rows: 1
   :widths: 40 60

   * - Item
     - Description
   * - LoadCell/Leg-Strength-Testing/
     - ESP32 code for real-time load-cell data (2024–2025).
   * - archive/
     - Older code and scripts (2022–2023).
   * - lidar/
     - Raspberry Pi + LiDAR test scripts (2023–2024).
   * - o-drive/
     - Calibration and test scripts for ODrive (various years).
   * - pi/
     - Pi-related scripts: sound, startup testing, archived deployed code (2022–2023).
   * - plotter/
     - matplotlib tools to plot ODrive current data in real time (2024–2025).
   * - single-leg/
     - Legacy Python code for the testbench (2023–2024).
   * - teensy/
     - Legacy Teensy test scripts (2023–2024).

LoadCell/Leg-Strength-Testing
-----------------------------
PlatformIO code for an ESP32 that uses an HX711 load cell amplifier. The ESP32 serves a local webpage that plots real-time force data. Connect to the ESP32 access point to view the page.

archive
-------
Collection of older scripts and projects, including:

.. list-table::
   :header-rows: 1
   :widths: 40 60

   * - Item
     - Description
   * - o-drive/SinWave_Test/
     - Arduino sketch used to move ODrive in simple tests.
   * - pi/
     - Iterative Pi scripts testing threading, controller connectivity, and GUI experiments.
   * - teensy/
     - Older Teensy scripts for gyroscope filtering and ESC tests.

lidar
-----
Python test scripts for the Adafruit LiDAR sensor. Some scripts were deployed on the Raspberry Pi; functionality varies by script and year.

o-drive
-------
Calibration and support files for ODrive boards, e.g.:

.. list-table::
   :header-rows: 1
   :widths: 40 60

   * - Item
     - Description
   * - ConfigFile.py
     - Calibration utility using odrivetool.
   * - Single-Motor-cfg.py
     - Single-motor calibration helper.
   * - firmware_5_5.elf
     - Firmware image (v5.5) referenced by older deployments.
   * - OdriveArduino.zip
     - Unofficial Arduino helper library (archived).

pi
--
Scripts related to Raspberry Pi development and testing:

.. list-table::
   :header-rows: 1
   :widths: 40 60

   * - Item
     - Description
   * - Sounds
     - Library of audio files used by legacy code.
   * - Startup Testing
     - Scripts that validate ODrive calibration and startup behavior.
   * - pi_edays_demo
     - Deployed demo code (E-Days 2023).

plotter
-------
.. list-table::
   :header-rows: 1
   :widths: 40 60

   * - Item
     - Description
   * - odrive-plotter.py
     - Matplotlib-based real-time plotting of ODrive currents.

single-leg
----------
Legacy single-leg simulation and testbench scripts:

.. list-table::
   :header-rows: 1
   :widths: 40 60

   * - Item
     - Description
   * - com_sim.py / com_sim_linux.py
     - Kinematic simulation and Linux port.

teensy
------
Older Teensy-based calibration and test scripts:

.. list-table::
   :header-rows: 1
   :widths: 40 60

   * - Item
     - Description
   * - manual_offset_calibration
     - Tools for determining leg offsets.
   * - single_leg_stand
     - Testbench code for single-leg standing.
   * - assorted deprecated demos and utilities
     - (archived).

.. note::
   This page is an overview. Consult individual directories for README files and specific usage instructions.