Servo Magazine (December 2016)
Have you ever packed up your robot and taken it to a club meeting with the intent of demonstrating all your work to a room full of hobbyists only to find that a loose connection made both you and your robot look, not just unprepared, but totally inept? If your robot had an internal self-testing program, it could have saved the day for you. This article describes some concepts to help you develop an internal self-testing program for your mechatron so you never have to “underperform” again.
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RobotBASIC source code