Ausarbeitung/implementation.tex

   1 \chapter{Description of Implementation}
   2 \section{Measuring}
   3 \todo
   4
   5 C++ code in wiselib/trunk/pc\_apps/roomba\_tests
   6
   7 three single applications with same base: roomba\_test (main.cc),
   8 mean\_correction\_test (mean\_correction.cc), soft\_start\_test
   9 (soft\_start.cc).
  10
  11 user interface: Qt.
  12
  13 manual tests (user is asked for new values every time) or automated tests (user
  14 only asked for measured values).
  15
  16 1) open UART connection
  17
  18 2) register state callback for getting roomba sensor data
  19
  20 3) while(input values or cancel) { drive() / turn() }
  21
  22 4) drive() / turn() use wiselib::ControlledMotion<OsModel,
  23 wiselib::RoombaModel> for moving specified angle/distance; and ask for measured
  24 values and write to external log file, including battery status, roomba/wiselib
  25 internal angles/distances (ticks), svn revision, floor type, roomba ID
  26
  27 additionally, mean correction test uses
  28 CorrectedMeanMotion from corrected\_mean\_motion.h, implements same concept like
  29 wiselib::ControlledMotion and takes care of target value by using the
  30 calculated fit function .
  31
  32 additionally, soft start/stop test uses
  33 SoftStartMotion from soft\_start\_motion.h, implements same
  34 concept like wiselib::ControlledMotion and takes care of increasing/decreasing
  35 velocity via timer.
  36
  37 \section{Evaluation}
  38 \todo
  39
  40 bash/perl scripts in wiselib/trunk/pc\_apps/roomba\_tests/logs, using gnuplot
  41
  42 graph.sh: create 3d plots (input value, input velocity, measured value) from
  43 original behvaiour data, including fit function calculated by GNU R statistics
  44 software, for {carpet floor, laminate floor} $\times$ {drive straight, turn on
  45 spot}
  46
  47 graph-mean.sh: do the same for mean correction data, including fit function from
  48 original data
  49
  50 graph-soft.sh: do the same for soft start/stop data, including fit function from
  51 original data
  52
  53 graph-mean-soft.sh: 3d plot with mean correction and soft start/stop data, for
  54 comparison of both
  55
  56 graph-errorlines.sh: create 2d plots input value -> measured value, with
  57 multiple velocities in each graph. also split graphs up for {carpet floor,
  58 laminate floor} $\times$ {drive straight, turn on spot}. no fit function.