Duplicate checklist if reusing between dry test and full test

WAM-V Checklist

Log

Objectives

Test basic R/C functionality, verify underslung soundness and design, familiarize with procedures.

Plan

1. Assemble WAM-V (assembly procedure in WAM-V Checklist)
2. Run “post-assmbly procedure” (below)
3. Launch WAM-V into lake (launch procedure in WAM-V Checklist)
4. RC control testing
   1. attempt minimum throttle forward movement
   2. navigate slowly 5-10 m from shore (safe distance)
   3. attempt minimum throttle yaw CW and CCW movement
   4. attempt minimum throttle reverse movement
5. RC authority testing
   1. attempt minimum speed “figure 8” maneuver (3x10m?)
   2. attempt slightly faster “figure 8”
   3. attempt slightly faster “figure 8”
6. Center of mass qualitative testing
   1. from dock (or other) take long focal length images of front, side, back of WAM-V in static state
   2. repeat (best as possible) with forward, turning, and reverse states
7. RC Range Test
   1. tie tow points along the front or back of the boat
   2. have a person in the kayak a safe distance away from the boat
   3. move the boat away from the dock, as far as possible
      1. limit ourselves to some distance
   4. when the boat gets back in range, the pilot will take manual control back ONLY after the kayak-er is a safe distance away from the motors

Lab Procedure

Packing Checklist

Using above packing list, stow all items in truck. Do not check off top level items unless they are confirmed to be IN the truck (or a car).

Lake Assembly Procedure

DO WAM-V CHECKLIST ASSEMBLY SECTION

Lake Post-Assembly Procedure

• [ ] Once the WAM-V has been properly assembled, prepare to deploy the vehicle
  • [ ] Establish communication with the RC receiver
    • [ ] If the Rx is visible through the front seat box, look for green light
    • [ ] Look for the blue light on the battleswitch
      • [ ] If the blue light is ON, the vehicle is an UNSAFE state
      • [ ] If the blue light is OFF, the vehicle is safe
  • [ ] RC stick calibration
  • [ ] Switch RC transmitter in manual mode
  • [ ] Check motor spin orientations by using RC controller: Minimal deflections should cause motors to spin
    • [ ] RC expected input gives expected motor output
      • [ ] Right stick forward → both forward
      • [ ] Right stick backward → both backward
      • [ ] Left stick left → STBD forward, PORT backward
      • [ ] Left stick right → PORT forward, STBD backward
  • [ ] Check ESTOP FUNCTIONALITY
    • [ ] While the motors are spinning, hit the physical estop button
      • [ ] Ensure that the motors stop spinning
      • [ ] The motor relays should also click
    • [ ] While the motors are spinning, flip the RC switch connected to the battle-switch, for RC estop
      • [ ] Ensure that the motors stop spinning
      • [ ] Check the Battleswitch lights for status indication
      • [ ] Relays click
    • [ ] While the motors are spinning, disconnect the ESC xt60 power. This will break communication between the receiver and the transmitter
      • [ ] Ensure that the motors stop spinning when this happens
      • [ ] Relays click
      • [ ] This should require you to zero the throttle after a loss of connection
  • [ ] Deploy the vehicle into the lake
    • [ ] add stuff here