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Testing on a Computer

tests/ has tests that run on a computer, not the robot:

  • the odometry and distance reset math
  • the motion profile, path, pure pursuit and RAMSETE math
  • a field simulation where MCL corrects drifting odometry with delayed, noisy sensors and Override field elements in the way
  • a check that the simulator's calibration fitter recovers a made-up robot

With a C++ compiler installed (see Running the Simulator), run from the project folder:

sh tests/run-tests.sh

GitHub runs these tests, and every auton in the simulator, on each push.