iRobot Roomba Discovery, Service Manual

Page: 58 / 87

58
o
If any test FAILED:
ƒ The POWER LED will BLINK FAST RED.
ƒ The robot CANNOT be powered off and will not respond to any buttons
until the BATTERY IS REMOVED.
MANUAL-ADVANCE mode is designed to be used for debugging particular sensors or actuators.
In this mode, the robot DOES NOT decide PASS/FAIL for each test number. The test does not
automatically advance, so sensors or actuators can be tested as many times as needed.
In
MANUAL-ADVANCE mode:
•
Use the CLEAN button to MANUALLY ADVANCE to the next built-in-test number.
•
Use the SPOT button to go back to the previous built-in-test number.
•
The POWER LED will always be GREEN.
•
There is no pass or fail. If you advance past the last test number, the test number will wrap
around to the first test.
The following chart describes how to use each built-in-test number. To PASS the built-in-test in
AUTO-ADVANCE mode, the user must perform the actions EXACTLY AS DESCRIBED.
Test Name Tester Action Robot Action Spot LED
(Left)
Clean LED
(Right) Status LED
0 Panel LEDs Check correct flashing of
LEDs. Press CLEAN to
advance to the first test.
1 Bumpers Press and release left
bumper. Press and release
right bumper. Left bumper
pressed.
Right bumper
pressed.
2 Outer Cliff
Sensors
Briefly lift robot's left side
to simulate cliff-left.
Briefly lift robot's right side
to simulate cliff-right. Cliff-left
detected.
Cliff-right
detected.
3 Inner Cliff
Sensors
Briefly lift robot's left side
to simulate cliff-front-left.
Briefly lift robot's right side
to simulate cliff-front-right. Cliff-front-left
detected.
Cliff-front-
right detected.
4 Wheel Drop /
Wall Sensor
Briefly lift robot to cause a
wheel drop on left wheel,
then right wheel, then front
caster. Briefly simulate a
wall. Wheel drop
detected.
Wall
detected.