- Configure using
config.toml
andlimits.toml
indeploy/healthcheck
directory. Possibly combine into one file. What is the best way to deal with overwriting indeploy
during deployment? - Add a simple interface to Subsystems. This should be the only coding required.
- Scan
limits.toml
and add any missing tests fromconfig.toml
with sane limits automatically. - Re-running healthcheck will load the
config.toml
andlimits.toml
for faster iterations while tuning tests. - Create robotRIO embedded web server output directory automatically.
- Need to test things other than motors?
- Talon timed test - run at specified percent output, measure speed and current
- Talon follower test - same as timed test but specify leader and followers
- Talon position test - run at specified percent output to specified encoder position, measure speed and current
- Talon motion magic position - set setpoint to specified encoder position
My current thinking is to avoid using a config file and configuring health check right in the subsystem using annotations. You can have a simple health check that logs currents and speeds for a default set of conditions with a single
@HealthCheck
annotation or configure with@Timed
,@Position
, and/or@Limits
.Optionally set up talons for testing using
@BeforeHealthCheck
and restore after tests using@AfterHealthCheck
. If something needs to happen between every test, use@BeforeEachHealthCheck
.Set up the
HealthCheckCommand
and the subsystems will be scanned for talons to check.