Test Harness ​

Navigate to opensource-autonomous-vehicle-controller -> lib

• AS5047D.X contains the test harness of the encoder

  • Encoder can be found here

• Garmin_LIDAR_V3HP.X

  • LIDAR found here

• ICM-20948 contains the test harness of the IMU

  • IMU found here

• NEO_M8N.X contains the test harness of the GPS

  • GPS found here

• Radio_serial.X contains the test harness of the radio telemetry (for Mavlink)

  • Radio telemetry kit found here

• RC_ESC.X contains the test harness of the DC brushless unidirectional and bidirectional motors

  • DC brushless motor found here

• RC_RX.X contains the test harness of the radio controller

  • Radio receiver found here
  • Radio transmitter found here

• RC_servo.X contains the test harness of the servo motors

  • Servo motor found here

Running the Test Harness ​

• Note: Before running the test harnesses, make sure that you have properly connected your peripherals
• File -> Open Project -> open-source-autonomous-vehicle-controller -> lib
• Open the folder that contains the desired test harness in MPLAB
• Open the folder’s Project Properties (File -> Project Properties)

• Choose Connected Hardware Tool to PICkit3
• Navigate to xc32-ld -> choose General as the option category -> set the Heap Size (bytes) to be 0 bytes

• Click Clean and Build

• Click Make and Program Device

• Open a serial port terminal app (CoolTerm for Mac, PuTTY for Windows) and set the baud rate to 115200

IMU Test Harness ​

Hardware Setup for IMU ​

for reference to the IMU documentation refer here

Follow the steps given in Running the Teat Harness.

The terminal output should continuously report and update the IMU’s accelerometer, gyroscope, magnetometer readings in the x, y, and z axes, temperature, and magnetometer status. If the magnetometer status is always 0xff08, there might be an issue with your IMU:

Motor Test Harness ​

Hardware Setup for Motor ​

• Note : The J5 jumper must be placed to supply 5V to the power lane.

RC Servo Output ​

• The terminal output for the RC servo motor should be the current pulse in microseconds and the raw timer ticks.

DC Brushless Output ​

• To calibrate a ESC unidirectional motor:
  • Power it up by connecting it to a battery, and you should hear continuous beeping
  • Wait for at least three beeps
  • Connect to the PWM output channels in the OSAVC
  • Open the RC_ESC.X folder and click Make and Program Device
  • Set the minimum ticks of the motor for five seconds. This is automatically taken care of by the RC_ESC test harness.
• The terminal output for the DC brushless motor should be the current pulse in microseconds and the raw timer ticks. PWM output channels 1 and 2 are for unidirectional brushless motors while PWM3 and PWM4 are for bidirectional brushless motors.

GPS Test Harness ​

Hardware Setup for GPS ​

Output ​

• The terminal output should continuously report and update the time, latitude, longitude, speed, and heading acquired from the GPS module. Please note that the GPS module needs some time to acquire a satellite fix.

RC Receiver Test Harness ​

Hardware Setup for RC Receiver ​

Output for RC Receiver Test Harness ​

• The terminal output should continuously report and update the user input to the nine channels of the radio transmitter.

Radio Telemetry Test Harness ​

Hardware Setup for Radio Telemetry ​

Output for Radio Telemetry ​

• The terminal output should show a message like this.

• Then, click File -> New to open a new terminal.

• Set the new terminal’s port to be the other usbserial (of the radio module, not the OSAVC serial port).

• Set the baud rate to be 57600

• Click Connect at the top of the application
• Now, type a message like “Hello world” in the new terminal, and the message should be echoed in your original terminal.

Encoder Test Harder ​

Hardware Setup for Encoder ​

Note : If you only have one encoder, set NUM_ENCODERS to be 1 in the AS5047D.h file and connect your encoder to the J16 port.

• The terminal output should continuously report and update the angle and velocity measured by the encoder in native units (16384 pulses per revolution).

LIDAR Test Harder ​

Hardware Setup for LIDAR ​

Output for LIDAR Test Harness ​

• The terminal output should continuously report and update the range measured by the LIDAR sensor.