Validation rules

This page is generated from mobiledsl.validation.standard; edit the code, not the page. Each rule asks one question of the facts analysis derived and answers pass, fail, unknown or not_applicable with the evidence it used. fail is an error that blocks compilation, except for an advisory rule, whose fail is a warning: the facts show a likely mistake that a program may still mean. unknown means the facts do not settle the question, usually because a library part did not state something; it is never a pass: each place it points at is a warning, and the compile's summary counts the rule as undecided. A rule answers for each place it points at: one that fails for one part and cannot decide another says both, the second as a warning. A rule reads facts; it does not recompute geometry and does not change the program.

Rule	Category	Question	fail is	unknown when
assembly.glue_on_connector	assembly	Does every component's glue name one connector of the chassis or of a part placed on it, and is that part placed?	an error	never
assembly.one_part_per_connector	assembly	Does each chassis connector carry at most one part?	an error	never
assembly.wheel_mounts_filled	assembly	Does every drive mount of the chassis type carry one wheel or track, on the mount or on the shaft of a motor on it, with any motor that turns it on the mount or on a seat of the chassis whose driveline turns it; does every other wheel mount carry one free wheel; and does nothing that drives sit elsewhere?	an error	never
assembly.wheel_type_matches_chassis	assembly	Is every wheel that rolls, and every track, of a type the chassis takes?	an error	never
assembly.steering_declared	assembly	Does each steered mount of the chassis type carry an upright kingpin?	an error	never
kinematics.omni_wheels_span_the_plane	kinematics	Do an omni base's rolling directions span the plane?	an error	when no omni wheel is placed
assembly.axles_horizontal	assembly	Is the axle of every wheel that rolls, and of every track's hub, horizontal?	an error	never
assembly.wheels_touch_one_plane	assembly	Do all wheels, and both ends of every track's run, touch the ground on one plane, with each other and with a legged robot's feet (within 2 mm)?	an error	never
assembly.feet_touch_the_ground	assembly	Does every foot of a legged robot, of its chassis's own legs or of a leg placed on it, touch the ground on one plane with the others (within 2 mm), where the servos hold the legs?	an error	never
assembly.legs_on_a_legged_chassis	assembly	Is every leg placed on a Legged chassis that has no legs of its own, hanging from no connector of it that steers, and does such a chassis carry legs?	an error	never
assembly.one_walker	assembly	Is the robot, its body and its legs placed as they are, the robot of one walker of its chassis's library at most?	an error	never
assembly.links_clear_the_ground	assembly	Does every shape of a part's links but a legged robot's feet stay above the ground (within 2 mm), where its servos hold the links?	an error	no wheel, track or foot is placed
statics.mass_inside_the_wheel_contacts	statics	Does the robot's centre of mass fall strictly inside the polygon of its ground contacts, the wheels, the tracks' runs, a legged robot's feet and the skids its parts declare, counting a skid a little above the wheels' plane once the base has tipped onto it, with no skid reaching below the wheels or the feet?	an error	no wheel, track or foot is placed, a wheel, a track's end or a foot is off the plane the others share, or the contacts lie on one line and the robot tips onto nothing declared
assembly.footprint_known	assembly	Do the parts' collision shapes, their links' with them where their servos hold them, bound the robot's footprint?	an error	a placed part declares no collision box
assembly.parts_clear_each_other	assembly	Do the declared shapes of the parts fixed to the base, each part's links' with it where their servos hold them, keep out of each other, but for what a well on a connector of either lets into that part's declared shape?	a warning	no two shapes are found to overlap, and a placed part declares no collision shape
assembly.wheels_clear_other_parts	assembly	Does every other part's declared shape, its links' with it where their servos hold them, keep out of the space each wheel turns through, over its steering lock, and out of each track's unit, but for what a well on the part's connector lets into its declared shape?	an error	no part is found in a wheel's or a track's way, and a placed part or a track's unit declares no collision box or a stretch of a steering lock could not be settled within the analysis's budget
kinematics.spin_supported	kinematics	If the task spins in place, can the base, and a walking base the way its gait turns?	an error	never
kinematics.strafe_supported	kinematics	If the task strafes, is the base holonomic, and does a walking base's gait move aside to that side, as fast as the task states?	an error	never
kinematics.walk_supported	kinematics	If the task advances, backs up or navigates a walking base, does its gait walk that way, as fast as the task states, and turn either way to navigate?	an error	never
kinematics.gait_walks_the_feet	kinematics	If the chassis walks by a gait, does the robot stand on an even number of feet, four or more, each stepping by at least two servos of its own?	an error	never
kinematics.tracks_state_their_travel	kinematics	Does every track's part state how far its belt travels per turn of its hub?	an error	a track's part states no travel per turn
sensing.range_clears_the_ground	sensing	Does every Range sensor's cone stay above the ground within its range?	a warning	no wheel, track or foot is placed
power.supply_voltage_accepted	power	Is the voltage every motor and motor driver is fed, full and run down, within the range its part states it accepts?	an error	a part that states a range names no supply, or its battery states a nominal voltage within that range and no range of its own
power.rated_voltage_in_supply	power	Does the voltage every motor is fed, between full and run down, include the voltage its ratings hold at?	a warning	a motor names no supply, or its battery states only a nominal voltage that is not the motor's rated one
power.driver_delivers_stall_current	power	Can every motor driver deliver, from one channel, the current the motor on it draws stalled?	a warning	never
command.driver_commands_its_motors	command	Does every motor's driver have what commands it: a channel of its own for a motor without a bus, the motor's bus for one that carries its driver?	an error	a motor names no driver
command.driver_has_a_channel_for_each_motor	command	Does every motor driver have a channel of its own for each motor it drives?	a warning	never