MTest Sequence Report: TS_GLB_POS_001 - straight fwd and rev

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

Contents    [Requirement Catalog]    [Test Sequence Catalog]    [Signal Comparison Catalog]    [Assessment Catalog]    [Assessment Result Matrices]

  1. 1 TSeq001: straight fwd and rev
    1. 1.1 Simulation Parameters and Testbed
  2. 2 Test Input (Test Data)
  3. 3 Test Output (Test Results)
  4. 4 Local Output Data (Internal Test Results)
  5. 5 Test Release (GlobalPosition_Test001_TSeq001), Status:  Passed 

Version info

ToolVersion
MES Test ManagerMTest v 6.4
MATLAB9.5 (R2018b)
Simulink9.2 (R2018b)
Stateflow9.2 (R2018b)
Operating SystemMicrosoft Windows 7 Professional Version 6.1 (Build 7601: Service Pack 1)

1 TSeq001: straight fwd and rev    [Contents]

TestSeq ID: TS_GLB_POS_001
Reqs Covered: REQ_GLB_POS_01
REQ_GLB_POS_02
REQ_GLB_POS_03
Work Status: reviewed
Description: Motivation
Test the claculation for driving straight (gyroAngleRad = 0).

Test description
For constant velocity the encoder value is set to a positive constant, then wait a short time. To change direction it is set to a negative constant.

Expected Result
The global X position should ramp up and down. The y position shall stay 0.
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_zero
// @encodervalid_zero
// @encoderValid_positive
// @encoderValid_negative
[+0.1s] // initialize
driveEncoder = 72;
[+5s] // drive fwd for 5 sec
driveEncoder = 0;
[+0.5s] // wait
driveEncoder = -36;
[+10s] // drive rev for 5 sec
driveEncoder = 0;
[+1s]

1.1 Simulation Parameters and Testbed

Start Time Stop Time Cycle Time Solver
016.60.05FixedStepDiscrete

 

Simulation Mode Simulation Time Testbed Name Testbed Path Testbed Date
ECModelFloat 29-Oct-2019 09:41:07 Frame_Glob_ec Test/Test_GlobalPosition_demo_ec/GlobalPosition/ 29-Oct-2019 09:41:27
ECModelFixed 29-Oct-2019 09:41:30 Frame_Glob_ec Test/Test_GlobalPosition_demo_ec/GlobalPosition/ 29-Oct-2019 09:41:27

2 Test Input (Test Data)    [Contents]

   [Go to Parameter Report of Test Object]

Input SignalConstant Signal
driveEncoder  no
gyroAngleRad  value:  0
Signal driveEncoder / GlobalPosition_Test001_TSeq001

3 Test Output (Test Results)    [Contents]

Output SignalConstant SignalDifference
posGlobal_1  nono
posGlobal_2  value:  0no
Signal posGlobal_1 / GlobalPosition_Test001_TSeq001

4 Local Output Data (Internal Test Results)    [Contents]

Local SignalConstant SignalDifference
prevXPosGlobal  nono
prevYPosGlobal  value:  0no
s_k  nono
x_k  nono
y_k  value:  0no
Signal prevXPosGlobal / GlobalPosition_Test001_TSeq001 Signal s_k / GlobalPosition_Test001_TSeq001 Signal x_k / GlobalPosition_Test001_TSeq001

5 Test Release (GlobalPosition_Test001_TSeq001), Status:  Passed     [Contents]

Evaluation Result: Passed 
automatically evaluated by:MTest Demo User    (29-Oct-2019 09:41:44)
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