=~=~=~=~=~=~=~=~=~=~=~= PuTTY log 2022.01.09 20:18:32 =~=~=~=~=~=~=~=~=~=~=~=
USB state SUSPENDED
USB state ATTACHED
USB state ADDRESSED
USB state CONFIGURED
key-wakeup
slept for 0 minutes 4 seconds

2020-09-15-0842-L
roomba-mobility/branches/v2.4.16:5938 CLEAN

bootloader id: 3164 450C 9193 6690
robot-assembly: e
sys config: 0 (0b0000000000000000)
mobility-board-revision: rev-c
ui-board-revision: b
audio image status: ok , audio flash format: 5, pack ID: 32, Flash Image Name: El Paso PP EU

enabled language: en-UK (0)
battery-current-zero 253
BOOTLOADER-ID 3164 450C 9193 6690
ROBOT-ASSEMBLY e
MOBILITY-BOARD-REVISION rev-c
UI-BOARD-CONFIG b
audio image status: ok , audio flash format: 5, pack ID: 32, Flash Image Name: El Paso PP EU



factory-test 0  leds
wait: false



SUMMARY: START
SUMMARY: DATE-TAG 2020-09-15-0842-L
SUMMARY: BOOTLOADER-ID 3164 450C 9193 6690
SUMMARY: ROBOT-ASSEMBLY e
SUMMARY: MOBILTIY-BOARD-REVISION rev-c
SUMMARY: UI-BOARD-REVISION b
SUMMARY: SW-CONFIG 0 (0b0000000000000000)
SUMMARY: audio flash format: 5, pack ID: 32
SUMMARY: audio image status: ok
SUMMARY: AVAILABLE LANGUAGE(S): en-UK (0) fr-FR (1) es-ES (2) it-IT (3) de-DE (4) ru-RU (5)
SUMMARY: ENABLED LANGUAGE: en-UK (0)
SUMMARY: cliff calibration: L 30 FL 70 FR 40 R 0 RL 10 RR 0
SUMMARY: FACTORY-TEST INCOMPLETE
SUMMARY: t untested
SUMMARY: (robot-assembly-ok?) untested
SUMMARY: (and (not (bump-left?)) (not (bump-right?))) untested
SUMMARY: (and (bump-left?) (not (bump-right?))) untested
SUMMARY: (and (bump-right?) (not (bump-left?))) untested
SUMMARY: (cliff-left-bit?) untested
SUMMARY: (cliff-right-bit?) untested
SUMMARY: (cliff-front-left-bit?) untested
SUMMARY: (cliff-front-right-bit?) untested
SUMMARY: (rear-cliff-left-bit?) untested
SUMMARY: (rear-cliff-right-bit?) untested
SUMMARY: (and (lt-bumper-left?) (not (bump?))) untested
SUMMARY: (and (lt-bumper-right?) (not (bump?))) untested
SUMMARY: (and (lt-bumper-front-left?) (not (bump?))) untested
SUMMARY: (and (lt-bumper-front-right?) (not (bump?))) untested
SUMMARY: (and (lt-bumper-center-left?) (not (bump?))) untested
SUMMARY: (and (lt-bumper-center-right?) (not (bump?))) untested
SUMMARY: (and (lt-bumper-side-left?) (not (bump?))) untested
SUMMARY: (wheel-drop-left?) untested
SUMMARY: (wheel-drop-right?) untested
SUMMARY: (rcon?) untested
SUMMARY: (valid-code-in-channel? dir-left) untested
SUMMARY: (valid-code-in-channel? dir-right) untested
SUMMARY: (battery-voltage-ok?) untested
SUMMARY: (battery-temperature-ok?) untested
SUMMARY: (baseline-current-ok?) untested
SUMMARY: (left-wheel-stall?) untested
SUMMARY: (drive-speed-ok? left forward) untested
SUMMARY: (drive-speed-ok? right stopped) untested
SUMMARY: (left-drive-current-ok?) untested
SUMMARY: (left-drive-stall-current-ok?) untested
SUMMARY: (right-wheel-stall?) untested
SUMMARY: (drive-speed-ok? right forward) untested
SUMMARY: (drive-speed-ok? left stopped) untested
SUMMARY: (right-drive-current-ok?) untested
SUMMARY: (right-drive-stall-current-ok?) untested
SUMMARY: (drive-speed-ok? left reverse) untested
SUMMARY: (drive-speed-ok? right reverse) untested
SUMMARY: (main-brush-motor-stall?) untested
SUMMARY: (bristle-main-brush-current-ok?) untested
SUMMARY: (roller-main-brush-current-ok?) untested
SUMMARY: (main-brush-stall-current-ok?) untested
SUMMARY: (piezo-debris?) untested
SUMMARY: (init-vacuum-for-test) untested
SUMMARY: (lex-bin-low-vacuum-current-ok?) untested
SUMMARY: (vacuum-high-current-error?) untested
SUMMARY: (ngcs-bin-vacuum-current-ok?) untested
SUMMARY: (lex-bin-high-vacuum-current-ok?) untested
SUMMARY: (side-brush-motor-stall?) untested
SUMMARY: (side-brush-current-ok?) untested
SUMMARY: (side-brush-stall-current-ok?) untested
SUMMARY: (optical-floor-sensor-ok?) untested
SUMMARY: (gyro-sensor-ok?) untested
SUMMARY: (behaviorlink-gyro-ok?) untested
SUMMARY: (nav-calibration-ok?) untested
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-low) untested
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-low) untested
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-low) untested
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-low) untested
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-high) untested
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-high) untested
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-high) untested
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-high) untested
SUMMARY: (ext-charger-available?) untested
SUMMARY: (ext-charging-recovery-current-ok?) untested
SUMMARY: (ext-charging-current-ok?) untested
SUMMARY: (ext-charging-trickle-current-ok?) untested
SUMMARY: (ext-charging-watchdog-current-ok?) untested
SUMMARY: (wifi-module-ok?) untested
SUMMARY: (wifi-antenna-ok?) untested
SUMMARY: (bootloader-ok?) untested
SUMMARY: (application-ok?) untested
SUMMARY: (bbox-test-write-succeeded?) untested
SUMMARY: (audio-header-crc-passed?) untested
SUMMARY: (calibration-data-stored?) untested
SUMMARY: (factory-test-data-saved?) untested
SUMMARY: END





factory-test 31  save-factory-test-data
(factory-test-data-saved?) PASS


factory-test 30  cliff-calibration
(calibration-data-stored?) PASS


factory-test 29  serial-flash
wait: (audio-header-crc-done?)
(audio-header-crc-passed?) PASS


factory-test 28  bbox-vars
(bbox-test-write-succeeded?) PASS


factory-test 27  software
sys config: 0 (0b0000000000000000)
(bootloader-ok?) PASS
(application-ok?) PASS


factory-test 26  wifi
t PASS
(wifi-module-ok?) PASS
(wifi-antenna-ok?) PASS


factory-test 25  charger-watchdog
wait-true-for-time (32 ticks): (ext-charger-available?)


factory-test 24  ext-charger-trickle
wait-true-for-time (32 ticks): (ext-charger-available?)


factory-test 23  ext-charger-on
wait-true-for-time (32 ticks): (ext-charger-available?)


factory-test 22  ext-charger-recovery
not (ext-charger-available?) PASS
wait-true-for-time (32 ticks): (ext-charger-available?)


factory-test 21  optical-bin-sensors
left-near: 0
left-far: 0
right-near: 0
right-far: 0
(optical-bin-sensor-level-ok? left near emitter-low) PASS
(optical-bin-sensor-level-ok? left far emitter-low) PASS
(optical-bin-sensor-level-ok? right near emitter-low) PASS
(optical-bin-sensor-level-ok? right far emitter-low) PASS
left-near: 0
left-far: 890
right-near: 1
right-far: 886
(optical-bin-sensor-level-ok? left near emitter-high) PASS
(optical-bin-sensor-level-ok? left far emitter-high) PASS
(optical-bin-sensor-level-ok? right near emitter-high) PASS
(optical-bin-sensor-level-ok? right far emitter-high) PASS


factory-test 20  navigation-sensors
wait: (= nav-factory-test-mode mission-state-testing-bit)
wait: (nav-status-flag? passive-test-ready)
(behaviorlink-gyro-ok?) PASS
wait: (/= nav-factory-test-mode mission-state-testing-bit)
wait: (/= (nav-bit-report.get-flags) -1)
navigation-sensors results
calibration optical-floor-sensor:1 gyro-gain:1 gyro-linearity:1 camera-int:1 camera-ext:1
flags:3 gyro:358 deg odom:350 deg mouse:801 mm arclen:806 mm
current delta odom:8 deg max delta odom:20 deg current delta mouse:5 mm max delta mouse:30 mm
(nav-calibration-ok?) PASS
(optical-floor-sensor-ok?) PASS
(gyro-sensor-ok?) PASS


factory-test 19  side-brush
not (side-brush-motor-stall?) PASS
not (side-brush-motor-stall?) PASS
(side-brush-current-ok?) mA -73  min -170 max -10 mV -12858 degrees-C 19  PASS
not (side-brush-motor-stall?) PASS
(side-brush-current-ok?) mA -65  min -170 max -10 mV -12858 degrees-C 20  PASS
wait: (side-brush-motor-stall?)
(side-brush-motor-stall?) PASS
(side-brush-stall-current-ok?) mA -270  min -540 max -310 mV -12858 degrees-C 19  FAIL
(side-brush-motor-stall?) PASS
wait: (not (side-brush-motor-stall?))


factory-test 20  navigation-sensors
wait: (= nav-factory-test-mode mission-state-testing-bit)


factory-test 19  side-brush
not (side-brush-motor-stall?) PASS
not (side-brush-motor-stall?) PASS
(side-brush-current-ok?) mA -71  min -170 max -10 mV -12858 degrees-C 19  PASS
not (side-brush-motor-stall?) PASS
(side-brush-current-ok?) mA -66  min -170 max -10 mV -12858 degrees-C 19  PASS
wait: (side-brush-motor-stall?)
(side-brush-motor-stall?) PASS
(side-brush-stall-current-ok?) mA -443  min -540 max -310 mV -12886 degrees-C 19  PASS
(side-brush-motor-stall?) PASS
wait: (not (side-brush-motor-stall?))


factory-test 18  vacuum
(init-vacuum-for-test) PASS
(baseline-current-ok?) mA -208  min -350 max -80 mV -12830 degrees-C 20  PASS
(lex-bin-low-vacuum-current-ok?) mA -1015  min -1600 max -980 mV -13025 degrees-C 19  PASS
not (vacuum-high-current-error?) PASS
(lex-bin-high-vacuum-current-ok?) mA -1917  min -2700 max -1700 mV -13303 degrees-C 19  PASS


factory-test 17  debris
(piezo-debris?) PASS


factory-test 16  main-brush
not (main-brush-motor-stall?) PASS
(roller-main-brush-current-ok?) mA -279  min -590 max -100 mV -12941 degrees-C 20  PASS
not (main-brush-motor-stall?) PASS
(roller-main-brush-current-ok?) mA -254  min -590 max -100 mV -12914 degrees-C 19  PASS
not (main-brush-motor-stall?) PASS
wait: (main-brush-motor-stall?)
(main-brush-motor-stall?) PASS
(main-brush-stall-current-ok?) mA -1366  min -1520 max -1160 mV -12941 degrees-C 20  PASS
(main-brush-motor-stall?) PASS
wait: (not (main-brush-motor-stall?))


factory-test 15  wheel-encoders
(drive-speed-ok? left stopped) PASS
(drive-speed-ok? right stopped) PASS
(drive-speed-ok? left reverse) PASS
(drive-speed-ok? right reverse) PASS


factory-test 14  right-wheel
not (right-wheel-stall?) PASS
(drive-speed-ok? left stopped) PASS
(drive-speed-ok? right forward) PASS
(right-drive-current-ok?) mA -124  min -175 max -50 mV -12886 degrees-C 19  PASS
not (right-wheel-stall?) PASS
wait: (right-wheel-stall?)
(right-wheel-stall?) PASS
(right-drive-stall-current-ok?) mA -942  min -1040 max -760 mV -12969 degrees-C 19  PASS
(right-wheel-stall?) PASS
wait: (not (right-wheel-stall?))


factory-test 13  left-wheel
not (left-wheel-stall?) PASS
(drive-speed-ok? left forward) PASS
(drive-speed-ok? right stopped) PASS
(left-drive-current-ok?) mA -116  min -175 max -50 mV -12886 degrees-C 19  PASS
not (left-wheel-stall?) PASS
wait: (left-wheel-stall?)
(left-wheel-stall?) PASS
(left-drive-stall-current-ok?) mA -932  min -1040 max -760 mV -12969 degrees-C 19  PASS
(left-wheel-stall?) PASS
wait: (not (left-wheel-stall?))


factory-test 12  battery-sensors
(battery-voltage-ok?) mV 561  min 431 max 647  PASS
(battery-temperature-ok?) PASS
(baseline-current-ok?) mA -198  min -350 max -80 mV -12858 degrees-C 19  PASS


factory-test 11  binoculars
(valid-code-in-channel? dir-left) PASS
(valid-code-in-channel? dir-right) PASS


factory-test 10  omni-receiver
(rcon?) PASS


factory-test 9  wheel-drop
(wheel-drop-left?) PASS
(wheel-drop-right?) PASS


factory-test 8  left-wall-follower
(and (lt-bumper-side-left?) (not (bump?))) PASS


factory-test 7  lt-bumper-center
(and (lt-bumper-center-left?) (not (bump?))) PASS
(and (lt-bumper-center-right?) (not (bump?))) PASS


factory-test 6  lt-bumper-front
(and (lt-bumper-front-left?) (not (bump?))) PASS
(and (lt-bumper-front-right?) (not (bump?))) PASS


factory-test 5  lt-bumper-side
wiff: cliff-left signal 1  on? 1
wiff: cliff-front-left signal 330  on? 0
wiff: cliff-front-right signal 1  on? 1
wiff: cliff-right signal 1  on? 1
wiff: rear-cliff-left signal 426  on? 0
wiff: rear-cliff-right signal 3  on? 1
wiff: lt-bumper-center-right signal 0  on? 0
wiff: lt-bumper-front-left signal 0  on? 0
wiff: lt-bumper-side-left signal -2  on? 0
wiff: lt-bumper-right signal 2  on? 0
wiff: lt-bumper-left signal -1  on? 0
wiff: lt-bumper-center-left signal 1  on? 0
wiff: lt-bumper-front-right signal 0  on? 0
(and (lt-bumper-left?) (not (bump?))) PASS
(and (lt-bumper-right?) (not (bump?))) PASS


factory-test 4  rear-cliffs
(rear-cliff-left-bit?) PASS
(rear-cliff-right-bit?) PASS


factory-test 3  cliffs-front
(cliff-front-left-bit?) PASS
(cliff-front-right-bit?) PASS


factory-test 2  cliffs-side
wiff: cliff-left signal 0  on? 1
wiff: cliff-front-left signal 2  on? 1
wiff: cliff-front-right signal 0  on? 1
wiff: cliff-right signal 0  on? 1
wiff: rear-cliff-left signal 4  on? 1
wiff: rear-cliff-right signal 1  on? 1
wiff: lt-bumper-center-right signal 0  on? 0
wiff: lt-bumper-front-left signal -1  on? 0
wiff: lt-bumper-side-left signal 4  on? 0
wiff: lt-bumper-right signal 3  on? 0
wiff: lt-bumper-left signal -1  on? 0
wiff: lt-bumper-center-left signal -1  on? 0
wiff: lt-bumper-front-right signal 0  on? 0
(cliff-left-bit?) PASS
(cliff-right-bit?) PASS


factory-test 1  bumpers
(robot-assembly-ok?) PASS
(and (not (bump-left?)) (not (bump-right?))) PASS
(and (bump-left?) (not (bump-right?))) PASS
(and (bump-right?) (not (bump-left?))) PASS
(and (not (bump-left?)) (not (bump-right?))) PASS


factory-test 0  leds
wait: false



SUMMARY: START
SUMMARY: DATE-TAG 2020-09-15-0842-L
SUMMARY: BOOTLOADER-ID 3164 450C 9193 6690
SUMMARY: ROBOT-ASSEMBLY e
SUMMARY: MOBILTIY-BOARD-REVISION rev-c
SUMMARY: UI-BOARD-REVISION b
SUMMARY: SW-CONFIG 0 (0b0000000000000000)
SUMMARY: audio flash format: 5, pack ID: 32
SUMMARY: audio image status: ok
SUMMARY: AVAILABLE LANGUAGE(S): en-UK (0) fr-FR (1) es-ES (2) it-IT (3) de-DE (4) ru-RU (5)
SUMMARY: ENABLED LANGUAGE: en-UK (0)
SUMMARY: cliff calibration: L 30 FL 70 FR 40 R 0 RL 10 RR 0
SUMMARY: FACTORY-TEST INCOMPLETE
SUMMARY: t PASS
SUMMARY: (robot-assembly-ok?) PASS
SUMMARY: (and (not (bump-left?)) (not (bump-right?))) PASS
SUMMARY: (and (bump-left?) (not (bump-right?))) PASS
SUMMARY: (and (bump-right?) (not (bump-left?))) PASS
SUMMARY: (cliff-left-bit?) PASS
SUMMARY: (cliff-right-bit?) PASS
SUMMARY: (cliff-front-left-bit?) PASS
SUMMARY: (cliff-front-right-bit?) PASS
SUMMARY: (rear-cliff-left-bit?) PASS
SUMMARY: (rear-cliff-right-bit?) PASS
SUMMARY: (and (lt-bumper-left?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-right?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-front-left?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-front-right?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-center-left?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-center-right?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-side-left?) (not (bump?))) PASS
SUMMARY: (wheel-drop-left?) PASS
SUMMARY: (wheel-drop-right?) PASS
SUMMARY: (rcon?) PASS
SUMMARY: (valid-code-in-channel? dir-left) PASS
SUMMARY: (valid-code-in-channel? dir-right) PASS
SUMMARY: (battery-voltage-ok?) PASS  mV 561  min 431 max 647
SUMMARY: (battery-temperature-ok?) PASS
SUMMARY: (baseline-current-ok?) PASS  mA -198  min -350 max -80 mV -12858 degrees-C 19
SUMMARY: (left-wheel-stall?) PASS
SUMMARY: (drive-speed-ok? left forward) PASS
SUMMARY: (drive-speed-ok? right stopped) PASS
SUMMARY: (left-drive-current-ok?) PASS  mA -116  min -175 max -50 mV -12886 degrees-C 19
SUMMARY: (left-drive-stall-current-ok?) PASS  mA -932  min -1040 max -760 mV -12969 degrees-C 19
SUMMARY: (right-wheel-stall?) PASS
SUMMARY: (drive-speed-ok? right forward) PASS
SUMMARY: (drive-speed-ok? left stopped) PASS
SUMMARY: (right-drive-current-ok?) PASS  mA -124  min -175 max -50 mV -12886 degrees-C 19
SUMMARY: (right-drive-stall-current-ok?) PASS  mA -942  min -1040 max -760 mV -12969 degrees-C 19
SUMMARY: (drive-speed-ok? left reverse) PASS
SUMMARY: (drive-speed-ok? right reverse) PASS
SUMMARY: (main-brush-motor-stall?) PASS
SUMMARY: (bristle-main-brush-current-ok?) disabled
SUMMARY: (roller-main-brush-current-ok?) PASS  mA -254  min -590 max -100 mV -12914 degrees-C 19
SUMMARY: (main-brush-stall-current-ok?) PASS  mA -1366  min -1520 max -1160 mV -12941 degrees-C 20
SUMMARY: (piezo-debris?) PASS
SUMMARY: (init-vacuum-for-test) PASS
SUMMARY: (lex-bin-low-vacuum-current-ok?) PASS  mA -1015  min -1600 max -980 mV -13025 degrees-C 19
SUMMARY: (vacuum-high-current-error?) PASS
SUMMARY: (ngcs-bin-vacuum-current-ok?) disabled
SUMMARY: (lex-bin-high-vacuum-current-ok?) PASS  mA -1917  min -2700 max -1700 mV -13303 degrees-C 19
SUMMARY: (side-brush-motor-stall?) PASS
SUMMARY: (side-brush-current-ok?) PASS  mA -66  min -170 max -10 mV -12858 degrees-C 19
SUMMARY: (side-brush-stall-current-ok?) PASS  mA -443  min -540 max -310 mV -12886 degrees-C 19
SUMMARY: (optical-floor-sensor-ok?) PASS
SUMMARY: (gyro-sensor-ok?) PASS
SUMMARY: (behaviorlink-gyro-ok?) PASS
SUMMARY: (nav-calibration-ok?) PASS
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-low) PASS
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-low) PASS
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-low) PASS
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-low) PASS
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-high) PASS
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-high) PASS
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-high) PASS
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-high) PASS
SUMMARY: (ext-charger-available?) PASS
SUMMARY: (ext-charging-recovery-current-ok?) untested
SUMMARY: (ext-charging-current-ok?) untested
SUMMARY: (ext-charging-trickle-current-ok?) untested
SUMMARY: (ext-charging-watchdog-current-ok?) untested
SUMMARY: (wifi-module-ok?) PASS
SUMMARY: (wifi-antenna-ok?) PASS
SUMMARY: (bootloader-ok?) PASS
SUMMARY: (application-ok?) PASS
SUMMARY: (bbox-test-write-succeeded?) PASS
SUMMARY: (audio-header-crc-passed?) PASS
SUMMARY: (calibration-data-stored?) PASS
SUMMARY: (factory-test-data-saved?) PASS
SUMMARY: END





factory-test 31  save-factory-test-data
(factory-test-data-saved?) PASS