Running Test Scripts

After learning about the magic of PipFile, the goal is to run all of our test code from the command line and combine everything into a single test suite.

Requirements

  • pip, python, and pipenv must be installed to run this supercode, so get those on your path

  • For windows and maybe mac use:

py -m pip install pipenv

and

py -m pipenv run <SCRIPTNAME>

  • any non-python code should be run from it’s respective directory

LIDAR Scripts

Test out running the LiDAR sensor and displaying it in real-time:

py -m pipenv run lidar_sim

O-Drive Scripts

Run RamBOT-Tool UI (Best):

py -m pipenv run rambot_tool_v2

Run old calibration script:

py -m pipenv run calibrate

Run original calibration script:

py -m pipenv run calibrate_old

Run simple diagnostic script:

py -m pipenv run diagnostic

Run single motor calibration axis 0 (for the testbench hip):

py -m pipenv run calibrate_axis0

Run single motor calibration axis 1:

py -m pipenv run calibrate_axis1

Plotter Code

Run code that plots current in real-time (O-Drive must be plugged in):

py -m pipenv run plotter

Single Leg Test Code

Run old code to operate single leg (old teensy code must be loaded):

py -m pipenv run com_sim

Run single leg code for Linux:

py -m pipenv run com_sim_linux