MTest Project: | MTest Demo EV3Control_ec Batch Project |
MTest Test Object: | GlobalPosition (model: GlobalPosition_demo_ec) |
MTest Test Group: | Testing calculation of global position using MTCD (Test001) |
MTest User: | MTest Demo User |
Generated at: | 2019-10-29 09:41 |
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_GLB_POS_002 | ||||
Reqs Covered: |
REQ_GLB_POS_01 REQ_GLB_POS_02 REQ_GLB_POS_03 |
||||
Work Status: | reviewed | ||||
Description: |
Motivation Test the claculation for driving a curvy way fwd (gyroAngleRad ~= 0). Test description For constant velocity the encoder value is set to a positive constant, then wait a short time. Addidtionly the gyro input is ramped up and down. Expected Result The global x position should ramp up and down. The y position shall change now too. |
||||
TestGroup Initialization: | // Initialization of input signals (this test group) gyroAngleRad = 0; driveEncoder = 0; // Default definition of parameters // p MOTOR_DRIVE_TRANSMISSION_RATIO = 0.454545; // p WHEEL_SIZE_DEG = 0.06; p DEG2RAD = pi/180; | TestSequence Initialization: | Action: | // EC: // @gyroValid_positve // @gyroValid_negativ [+0.1s] // initialize driveEncoder = 72; [+2s] // drive fwd for 2 sec driveEncoder = ramp(64); gyroAngleRad = ramp(45*DEG2RAD); [+3s] // slow down and steer left gyroAngleRad = ramp(-45*DEG2RAD); [+6s] // steer right with const. velocity driveEncoder = ramp(72); [+2s] |
Start Time | Stop Time | Cycle Time | Solver |
---|---|---|---|
0 | 13.1 | 0.05 | FixedStepDiscrete |
Simulation Mode | Simulation Time | Testbed Name | Testbed Path | Testbed Date |
---|---|---|---|---|
ECModelFloat | 29-Oct-2019 09:41:10 | Frame_Glob_ec | Test/Test_GlobalPosition_demo_ec/GlobalPosition/ | 29-Oct-2019 09:41:27 |
ECModelFixed | 29-Oct-2019 09:41:33 | Frame_Glob_ec | Test/Test_GlobalPosition_demo_ec/GlobalPosition/ | 29-Oct-2019 09:41:27 |
[Go to Parameter Report of Test Object]
Input Signal | Constant Signal |
---|---|
driveEncoder | no |
gyroAngleRad | no |
Output Signal | Constant Signal | Difference |
---|---|---|
posGlobal_1 | no | no |
posGlobal_2 | no | no |
Local Signal | Constant Signal | Difference |
---|---|---|
prevXPosGlobal | no | no |
prevYPosGlobal | no | no |
s_k | no | no |
x_k | no | no |
y_k | no | no |
Evaluation Result: | Passed |
automatically evaluated by: | MTest Demo User (29-Oct-2019 09:41:45) |
Assessment Results: |
Assessment evaluation in sim mode Global: Passed Passed mars_REQ_GLB_POS_011: OK. Passed mars_REQ_GLB_POS_012: OK. Passed mars_REQ_GLB_POS_021: OK. Passed mars_REQ_GLB_POS_022: OK. Passed mars_REQ_GLB_POS_03: OK. |
Back2Back Results: |
Back2Back signal comparison of sim mode SiL (EC)/out vs. MiL (EC)/out: Passed Passed posGlobal_1: OK Passed posGlobal_2: OK |