Test Files
code/test_files/ contains standalone bench, calibration, data, evaluation, and
setup utilities. Checked-in utilities are grouped by the subsystem or workflow they
exercise; the directory root contains folders rather than a second unsorted tool list.
Main Utilities
| Area | Checked-in files | Purpose |
|---|---|---|
| Steering | steering/pca9685_servo_test.py, steering/calibrate_servo.py, steering/steering_trim_tuner.py, steering/servo_step_controller.py, steering/ff_calibrate.py, steering/imu_steering_calibrate.py, steering/pid_autotune.py |
Servo motion, centering, feed-forward measurement, IMU steering calibration, and yaw-control tuning |
| LiDAR | lidar/lidar_viewer.py, lidar/lidar_uart_test.py, lidar/lidar_avoidance_sim.py, lidar/test_lidar_center_aeb.py |
Raw transport, visualization, policy simulation, and center-corridor tests |
| Camera | camera/test_camera_preview.py, camera/test_camera_flip.py, camera/preview_series3_augmentations.py, camera/preview_shadow_augmentations.py |
Capture, orientation, and augmentation preview |
| Data and logs | data/photo_run_to_dataset.py, data/check_dataset_frames.py, data/dataset_cosine_similarity.py, data/dataset_clusters.py, data/dataset_scene_tags.py, data/takeover_log_report.py |
Dataset assembly/audit, scene analysis, and CSV takeover reporting |
| Display | display/hub75_rgbmatrix_test.py, display/display_panel_test.py, display/test_z2w_lidar_layout.py |
HUB75 bring-up and dashboard layout checks |
| Sensors | sensors/bn880_test.py, sensors/hall_sensor_test.py, sensors/imu_yaw_test.py |
GPS/compass, wheel speed, and IMU stream checks |
| Controller | controller/xbox_test.py, controller/joystick_velocity_test.py, controller/flick_detector_test.py, controller/test_async_jetson_client.py |
Input-device behavior and non-blocking Jetson Orin Nano client checks |
| Navigation | navigation/geojson_to_graph.py, navigation/astar_nav.py, navigation/generate_printable_map.py |
Route-graph generation, A* testing, and map output |
| Models | models/evaluate_sidewalkpilot_models.py, models/test_series_4_common.py, models/test_jetson_series4_runtime.py, models/clip_bucket_analyzer.py |
Cross-checkpoint report, Series 4 contracts/runtime, and clip diagnosis |
| Setup | setup/setup_and_verify.sh, setup/install_usb_dashboard_link.sh |
Environment checks and USB dashboard link installation |
This is an inventory of available tools, not evidence that every utility passed on the current hardware revision. Test records must preserve the command, device, result, and date separately.
Support Assets
GeoJSON files, navigation graphs, the route-planner HTML, and
house_stop_overrides.json live under code/test_files/navigation/.
mg24_yaw_firmware/ and camera/hsv_clahe_comparisons/ are checked-in supporting
directories. Local generated caches or reports under data/ are not part of the
published repository merely because they appear in a working copy.
Verification
cd ~/rc_car_code
python -m py_compile code/test_files/steering/pca9685_servo_test.py
bash -n code/test_files/setup/setup_and_verify.sh
Hardware-moving utilities require the car to be restrained, drive power managed, and an independent way to cut power.