Hacks, Mods, and Parts for your favorite Robot

Dirt Dog Diagnostics


----Warning----


When your robot is placed into the Built in Tests (BiTs)  all safeguards and sensors are turned off.  Pay attention to what each test does and keep hands and fingers out of harms way during the test procedure.


To place your Dirt Dog into the Built in test mode lift the battery up so that the battery pack contacts are not making contact with the Dirt Dog.  Press and hold down the Clean button.  At the same time press the battery back into place.  Within a few seconds you will hear the Dirt Dog begin to play a series of tones, both ascending and then descending.  When the tones stop release the Clean button.  Now the robot will be at Test 0 of the Built in tests.   There are a total of 21 tests that are performed on the robot.  The Clean button is pressed to advance to the next test.


There is a Serial Communication Interface that is located just above the DC power jack.  It is covered by a small piece of plastic that can be slid off exposing a 7-pin mini din connector.  There are cables and Bluetooth devices that can be purchased that will then allow the user to monitor the test results by connecting to a PC using a terminal program.  An example of the test results is provided here for your information:

The text in the following example represents the actual test results (either PASS or FAIL) for the different tests that are performed on the Dirt Dog hardware components. i.e., motors, sensors (cliff, bump) battery temperature, battery capacity and other tests.  Most of the tests will require some type of action on the part of the operator to obtain a pass/fail condition.  For example, to test the left and right bumper sensors the Built in Test program will display:  "(bump-left?)" and then wait until the left side of the front bumper is pressed.  The result of the left side bumper press will then be printed and the program sequences to the next sub-step of the test "(bump-right?) and once again wait for the right bumper to be pushed in and then display the test result.  There are three LEDs under the Clean button.  (Left, Center, Right)  When the left bumper is depressed during test 1, the left LED will light up indicating the left bumper sensor was actuated, and the right LED will do the same for the right bumper sensor.  You will observe when performing the different tests that the LEDs are turned on and off under the Clean button to indicate Pass/Fail conditions of the different tests.



Factory-test 0  leds

wait: false

 

 

Factory-test 1  bumpers

(bump-left?) PASS      

(bump-right?) PASS

 

 

Factory-test 2  cliffs-side

wiff: cliff-left on 2844  off 3576  signal 732  on? 0

wiff: cliff-front-left on 2165  off 3539  signal 1374  on? 0

wiff: cliff-front-right on 2896  off 3596  signal 700  on? 0

wiff: cliff-right on 3088  off 3612  signal 524  on? 0

wiff: wall on 3628  off 3628  signal 0  on? 0

(cliff-left?) PASS

(cliff-right?) PASS

 

 

Factory-test 3  cliffs-front

(cliff-front-left?) PASS

(cliff-front-right?) PASS

 

 

Factory-test 4  wheel-drop-and-wall

(wheel-drop?) PASS

(wheel-drop?) PASS

(wheel-drop?) PASS

(wall?) PASS

 

 

Factory-test 5  rcon-receiver

(rcon?) PASS

(any-remote-opcode?) PASS

 

 

Factory-test 6  battery-sensors

(battery-voltage-ok?) PASS

(battery-temperature-ok?) PASS

(baseline-current-ok?) mA -78  min -202  max -13  mV 16281  degrees-C 19 PASS

 

 

Factory-test 7  left-wheel

not left-wheel-stall PASS

(baseline-current-ok?) mA -78  min -202  max -13  mV 16281  degrees-C 19 PASS

(drive-speed-ok? left forward) PASS

(drive-speed-ok? right stopped) PASS

(left-drive-current-ok?) mA -141  min -326  max -117  mV 16003  degrees-C 19 PASS

not left-wheel-stall PASS

wait: left-wheel-stall

left-wheel-stall PASS

(left-drive-stall-current-ok?) mA -434  min -749  max -397  mV 16142  degrees-C 19 PASS

left-wheel-stall PASS

wait: (not left-wheel-stall)

 

 

Factory-test 8  right-wheel

not right-wheel-stall PASS

(baseline-current-ok?) mA -72  min -202  max -13  mV 16253  degrees-C 19 PASS

(drive-speed-ok? left stopped) PASS

(drive-speed-ok? right forward) PASS

(right-drive-current-ok?) mA -130  min -326  max -117  mV 16170  degrees-C 19 PASS

not right-wheel-stall PASS

wait: right-wheel-stall

right-wheel-stall PASS

(right-drive-stall-current-ok?) mA -432  min -749  max -397  mV 16031  degrees-C 19 PASS

right-wheel-stall PASS

wait: (not right-wheel-stall)

 

 

Factory-test 9  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 10  stasis  -  disabled, The Dirt Dog is not equipped with the IR Stasis circuit

 

Factory-test 11  main-brush

not brush-motor-stall PASS

(baseline-current-ok?) mA -72  min -202  max -13  mV 16226  degrees-C 19 PASS

(brush-current-ok?) mA -449  min -566  max -208  mV 15947  degrees-C 19 PASS

not brush-motor-stall PASS

wait: brush-motor-stall

brush-motor-stall PASS

(brush-stall-current-ok?) mA -1203  min -1901  max -1191  mV 15780  degrees-C 19 PASS

brush-motor-stall PASS

wait: (not brush-motor-stall)

 

Factory-test 12  debrisdisabled, The Dirt Dog is not equipped with the dirt detector hardware

 

 

Factory-test 13  vacuumdisabled, The Dirt Dog dust bin is not equipped with the vacuum

 

 

Factory-test 14  side-brush

not side-brush-motor-stall PASS

(baseline-current-ok?) mA -72  min -202  max -13  mV 16198  degrees-C 19 PASS

not side-brush-motor-stall PASS

(side-brush-current-ok?) mA -137  min -247  max -52  mV 16114  degrees-C 19 PASS

wait: side-brush-motor-stall

side-brush-motor-stall PASS

(side-brush-stall-current-ok?) mA -156  min -423  max -98  mV 16086  degrees-C 19 PASS

side-brush-motor-stall PASS

wait: (not side-brush-motor-stall)

 

 

Factory-test 15  int-charger-recovery

not (int-charger-available?) PASS

wait: (int-charger-available?)

(int-charging-recovery-current-ok?) mA 85  min 241  max 358  mV 16393  degrees-C 19 FAIL

 

 

Factory-test 16  int-charger-on

wait: (int-charger-available?)

(int-charging-current-ok?) mA 111  min 397  max 1602  mV 16309  degrees-C 19 FAIL

 

 

Factory-test 17  int-charger-trickle

wait: (int-charger-available?)

(int-charging-trickle-current-ok?) mA 46  min 33  max 72  mV 16365  degrees-C 19 PASS

 

 

Factory-test 18  ext-charger-recovery

not (ext-charger-available?) PASS

wait: (ext-charger-available?)

 

 

Factory-test 19  ext-charger-on

wait: (ext-charger-available?)

 

 

Factory-test 20  ext-charger-trickle

wait: (ext-charger-available?)

 

 

Factory-test 21  bootloader

(bootloader-ok?) PASS

 

 

 

SUMMARY: START

SUMMARY: DATE-TAG AND BOARD-REV 2006-08-19-1814-L   Roomba board revision: 2 (garage-bot-roomba)

 

SUMMARY: (bump-left?) PASS  

SUMMARY: (bump-right?) PASS  

SUMMARY: (cliff-left?) PASS  

SUMMARY: (cliff-right?) PASS  

SUMMARY: (cliff-front-left?) PASS   

SUMMARY: (cliff-front-right?) PASS  

SUMMARY: (wheel-drop?) PASS  

SUMMARY: (wall?) PASS  

SUMMARY: (rcon?) PASS  

SUMMARY: (any-remote-opcode?) PASS  

SUMMARY: (battery-voltage-ok?) PASS  

SUMMARY: (battery-temperature-ok?) PASS  

SUMMARY: (baseline-current-ok?) PASS   mA -72  min -202  max -13  mV 16198  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 -141  min -326  max -117  mV 16003  degrees-C 19

SUMMARY: (left-drive-stall-current-ok?) PASS   mA -434  min -749  max -397  mV 16142  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 -130  min -326  max -117  mV 16170  degrees-C 19

SUMMARY: (right-drive-stall-current-ok?) PASS   mA -432  min -749  max -397  mV 16031  degrees-C 19

SUMMARY: (drive-speed-ok? left reverse) PASS  

SUMMARY: (drive-speed-ok? right reverse) PASS  

SUMMARY: (stasis?) disabled  

SUMMARY: brush-motor-stall PASS  

SUMMARY: (brush-current-ok?) PASS   mA -449  min -566  max -208  mV 15947  degrees-C 19

SUMMARY: (brush-stall-current-ok?) PASS   mA -1201  min -1901  max -1191  mV 15780  degrees-C 19

SUMMARY: (debris-left?) disabled  

SUMMARY: vacuum-motor-stall disabled  

SUMMARY: (vacuum-current-ok?) disabled  

SUMMARY: (vacuum-stall-current-ok?) disabled  

SUMMARY: side-brush-motor-stall PASS  

SUMMARY: (side-brush-current-ok?) PASS   mA -137  min -247  max -52  mV 16114  degrees-C 19

SUMMARY: (side-brush-stall-current-ok?) PASS   mA -156  min -423  max -98  mV 16086  degrees-C 19

SUMMARY: (int-charger-available?) PASS  

SUMMARY: (int-charging-recovery-current-ok?) FAIL   mA 85  min 241  max 358  mV 16393  degrees-C 19

SUMMARY: (int-charging-current-ok?) FAIL   mA 111  min 397  max 1602  mV 16309  degrees-C 19

SUMMARY: (int-charging-trickle-current-ok?) PASS   mA 46  min 33  max 72  mV 16365  degrees-C 19

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: (bootloader-ok?) PASS  

SUMMARY: END

 

 

2006-08-19-1814-L  

Roomba board revision: 2 (garage-bot-roomba)

Power Supply

Charging data

 

 

2006-08-19-1814-L  

Roomba board revision: 2 (garage-bot-roomba)

battery-current-quiescent-raw 516  battery-current-zero 502

do-charging-wait-initial @ minutes 9

do-charging @ minutes 9

bat:   min 9  sec 17  mV 16587  mA 638  deg-C 19 

bat:   min 9  sec 18  mV 16727  mA 645  deg-C 19 

bat:   min 9  sec 19  mV 16782  mA 638  deg-C 19 

bat:   min 9  sec 20  mV 16810  mA 638  deg-C 19 

bat:   min 9  sec 21  mV 16810  mA 645  deg-C 19 

bat:   min 9  sec 22  mV 16810  mA 638  deg-C 19 

bat:   min 9  sec 23  mV 16810  mA 645  deg-C 19 

bat:   min 9  sec 24  mV 16810  mA 638  deg-C 19 

bat:   min 9  sec 25  mV 16810  mA 645  deg-C 19 

bat:   min 9  sec 26  mV 16810  mA 638  deg-C 19 

bat:   min 9  sec 27  mV 16838  mA 645  deg-C 19 

bat:   min 9  sec 28  mV 16838  mA 638  deg-C 19 

bat:   min 9  sec 29  mV 16838  mA 645  deg-C 19 

bat:   min 9  sec 30  mV 16838  mA 638  deg-C 19 

bat:   min 9  sec 31  mV 16838  mA 645  deg-C 19 

bat:   min 9  sec 32  mV 16838  mA 638  deg-C 19 

bat:   min 9  sec 33  mV 16838  mA 645  deg-C 19 

bat:   min 9  sec 34  mV 16838  mA 632  deg-C 19 

bat:   min 9  sec 35  mV 16838  mA 645  deg-C 19