Ausarbeitung/implementation.tex

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