Testing Repository
This page documents the testing repository used for diagnostics, test code, and archived development artifacts for the RamBOT project.
Repository layout
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:
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.:
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:
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
Item |
Description |
|---|---|
odrive-plotter.py |
Matplotlib-based real-time plotting of ODrive currents. |
single-leg
Legacy single-leg simulation and testbench scripts:
Item |
Description |
|---|---|
com_sim.py / com_sim_linux.py |
Kinematic simulation and Linux port. |
teensy
Older Teensy-based calibration and test scripts:
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.