MTest Project: | MTest Demo EV3Control_ec Batch Project |
MTest Test Object: | EV3Control (model: EV3Control_demo_ec) |
MTest Test Group: | Integration test - EV3Control (Test001) |
MTest User: | MTest Demo User |
Generated at: | 2019-10-29 09:46 |
Tool | Version |
---|---|
MES Test Manager | MTest v 6.4 |
MATLAB | 9.5 (R2018b) |
Simulink | 9.2 (R2018b) |
Stateflow | 9.2 (R2018b) |
Operating System | Microsoft Windows 7 Professional Version 6.1 (Build 7601: Service Pack 1) |
TestSeq ID: | TS_EV3Control_006 | ||||
Reqs Covered: | REQ_EV3CTRL_05 | ||||
Work Status: | reviewed | ||||
Description: |
Motivation Test if the y position changes only with nonzero input from drive motor and gyro sensor Test description Set gyro to ready and remote to start. Set drive motor encoder to positiv and negative values. Ramp values for gyro sensor Expected Result While the encoder and gyro sensoris zero the ypositions shall not change |
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TestGroup Initialization: | // Initialization of input signals (this test group) sensorRaw_RemoteControl = 0; sensorRaw_SteeringMotor = 0; sensorRaw_DriveMotor = 0; sensorRaw_Gyro = 0; sensorRaw_UltrasoundFront = 0; sensorRaw_UltrasoundRight = 0; sensorRaw_UltrasoundLeft = 0; // Default definition of parameters // p CL_EST_STEER_ANGLE_RAD = [ -0.785398 -0.392699 0.392699 0.785398 ]; // p CL_EST_STEER_ENC_DEG = [ -235 -150 150 235 ]; // p CTRL_TRK_LOOKAHEAD = 40; // p CTRL_TRK_METHOD = 1; // p CTRL_TRK_STEER_ANGLE_DEADZONE_RAD = 0.0349066; // p DEG2RAD = 0.0174533; // p DIST_OBSTACLE_EVADE = 40; p DIST_OBSTACLE_STOP = 15; // p LATERAL_EVADE_INCREMENT = 100; // p MOTOR_DRIVE_DEFAULT_FWD = 60; // p MOTOR_DRIVE_DEFAULT_REV = -45; // p MOTOR_DRIVE_MAX = 100; // p MOTOR_DRIVE_MIN = -100; // p MOTOR_DRIVE_TRANSMISSION_RATIO = 0.454545; // p MOTOR_STEER_AUTO_LEFT = 60; // p MOTOR_STEER_AUTO_RIGHT = -60; // p MOTOR_STEER_MANUAL_LEFT = 50; // p MOTOR_STEER_MANUAL_RIGHT = -50; // p MOTOR_STEER_MAX = 100; // p MOTOR_STEER_MIN = -100; // p PATH_COORDS_XY = [ 100 0; 99.2115 12.4345; 96.8583 24.0877; 92.9776 34.2274; 87.6307 42.2164; 80.9017 47.5528; 72.8969 49.9013; 63.7424 49.1144; 53.5827 45.2414; 42.5779 38.5257; 30.9017 29.3893; 18.7381 18.4062; 6.27905 6.26666; -6.27905 -6.26666; -18.7381 -18.4062; -30.9017 -29.3893; -42.5779 -38.5257; -53.5827 -45.2414; -63.7424 -49.1144; -72.8969 -49.9013; -80.9017 -47.5528; -87.6307 -42.2164; -92.9776 -34.2274; -96.8583 -24.0877; -99.2115 -12.4345; -100 -1.22465e-14; -99.2115 12.4345; -96.8583 24.0877; -92.9776 34.2274; -87.6307 42.2164; -80.9017 47.5528; -72.8969 49.9013; -63.7424 49.1144; -53.5827 45.2414; -42.5779 38.5257; -30.9017 29.3893; -18.7381 18.4062; -6.27905 6.26666; 6.27905 -6.26666; 18.7381 -18.4062; 30.9017 -29.3893; 42.5779 -38.5257; 53.5827 -45.2414; 63.7424 -49.1144; 72.8969 -49.9013; 80.9017 -47.5528; 87.6307 -42.2164; 92.9776 -34.2274; 96.8583 -24.0877; 99.2115 -12.4345; 100 -2.44929e-14 ]; // p REMOTE_DRIVE_AUTO_OFF = 11; p REMOTE_DRIVE_AUTO_ON = 10; p REMOTE_DRIVE_FWD = 5; p REMOTE_DRIVE_REV = 8; p REMOTE_START = 1; p REMOTE_STEER_LEFT = 2; p REMOTE_STEER_RIGHT = 4; p REMOTE_STOP = 3; | TestSequence Initialization: | sensorRaw_UltrasoundFront = DIST_OBSTACLE_STOP + 100; | Action: | [+1.0s] // System initialization sensorRaw_RemoteControl = REMOTE_START; [+0.1s] sensorRaw_DriveMotor = 30; [+1s] sensorRaw_Gyro = ramp(45); [+1s] sensorRaw_Gyro = 0; [+1.0s] // start vehicle control sensorRaw_RemoteControl = REMOTE_DRIVE_REV; [+0.1s] sensorRaw_DriveMotor = -30; [+1s] sensorRaw_Gyro = ramp(-45); [+0.5s] // drive rev sensorRaw_RemoteControl = REMOTE_DRIVE_AUTO_ON; [+0.5s] // drive in autopilot sensorRaw_RemoteControl = REMOTE_STOP; sensorRaw_DriveMotor = 0; [+2s] // stop vehicle sensorRaw_RemoteControl = REMOTE_START; [+3s] |
Start Time | Stop Time | Cycle Time | Solver |
---|---|---|---|
0 | 11.2 | 0.05 | FixedStepDiscrete |
Simulation Mode | Simulation Time | Testbed Name | Testbed Path | Testbed Date |
---|---|---|---|---|
ECModelFloat | 29-Oct-2019 09:44:19 | Frame_EV3C_ec | Test/Test_EV3Control_demo_ec/EV3Control/ | 29-Oct-2019 09:44:45 |
ECModelFixed | 29-Oct-2019 09:45:08 | Frame_EV3C_ec | Test/Test_EV3Control_demo_ec/EV3Control/ | 29-Oct-2019 09:44:45 |
Tool | Metric | Percentage | Target | Total | Reached | Unreached | |||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Model Coverage | Condition | 73.2% | 80% | 56 | 41 | 15 | |||||||||||||
Decision | 62.0% | 80% | 108 | 67 | 41 | ||||||||||||||
Lookup | 20.0% | 100% | 5 | 1 | 4 |
Aggregated coverage results: Test Sequence Catalog
[Go to Parameter Report of Test Object]
Input Signal | Constant Signal |
---|---|
sensorRaw_DriveMotor | no |
sensorRaw_Gyro | no |
sensorRaw_RemoteControl | no |
sensorRaw_SteeringMotor | value: 0 |
sensorRaw_UltrasoundFront | value: 115 |
sensorRaw_UltrasoundLeft | value: 0 |
sensorRaw_UltrasoundRight | value: 0 |
Output Signal | Constant Signal | Difference |
---|---|---|
EmergencyStop | value: 0 | no |
VehicleControlOff | no | no |
VehicleControlOn | no | no |
VehicleIdle | no | no |
driveMotor | no | no |
frequency | value: 440 | no |
posGlobal_1 | no | no |
posGlobal_2 | no | no |
statusLight | no | no |
steeringAngleCmdRad | no | no |
steeringMotor | no | no |
volume | value: 0 | no |
Local Signal | Constant Signal | Difference |
---|---|---|
ControlledDrive | no | no |
FWD | no | no |
REV | no | no |
driveMotor | no | no |
frequency | value: 127 | no |
gyroReady | no | no |
prevXPosGlobal | no | no |
prevYPosGlobal | no | no |
s_k | no | no |
statusLight | no | no |
steeringMotor | no | no |
volume | value: 0 | no |
x_k | no | no |
y_k | no | no |
Evaluation Result: | Passed |
automatically evaluated by: | MTest Demo User (29-Oct-2019 09:45:33) |
Assessment Results: |
Assessment evaluation in sim mode Global: Passed Passed mars_REQ_EV3CTRL_011: OK. Passed mars_REQ_EV3CTRL_012: OK. NotTriggered mars_REQ_EV3CTRL_021: Not triggered. NotTriggered mars_REQ_EV3CTRL_022: Not triggered. Passed mars_REQ_EV3CTRL_031: OK. Passed mars_REQ_EV3CTRL_032: OK. Passed mars_REQ_EV3CTRL_041: OK. Passed mars_REQ_EV3CTRL_042: OK. Passed mars_REQ_EV3CTRL_05: OK. |
Back2Back Results: |
Back2Back signal comparison of sim mode SiL (EC)/out vs. MiL (EC)/out: Passed Passed EmergencyStop: OK Passed VehicleControlOff: OK Passed VehicleControlOn: OK Passed VehicleIdle: OK Passed driveMotor: OK Passed frequency: OK Passed posGlobal_1: OK Passed posGlobal_2: OK Passed statusLight: OK Passed steeringAngleCmdRad: OK Passed steeringMotor: OK Passed volume: OK |