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CHAPTER 33 / 33

Test your own program with assertions and export the result

Run the current project source in a fresh isolated controller and physics world.

BotSims test bench showing design diagnostics and the mass and drive assessment.
Experiments run your current controller against the supported model and your chosen thresholds. Export the result to retain its assumptions and trace. View full size ↗
  1. Open Test bench → Test your program. Choose 1–30 simulated seconds and either the project’s current environment or a supported initial stall/dropout scenario. The current source, component parameters, wiring and seed are captured.
  2. Enable assertions for no brownout, minimum battery voltage, maximum current, minimum path travel or maximum absolute forward speed. Set thresholds appropriate to the modeled robot; units appear beside each value.
  3. Run the code experiment. The live workspace pauses; a fresh real CodeClient worker executes the captured user program at 20 Hz with physics at 120 Hz. Metrics are sampled at every physics step; exported trace samples are at the controller rate.
  4. Inspect achieved values and pass/fail checks. Cancel or Emergency stop terminates the experiment. A 60-second wall-time budget and existing guest/worker watchdogs also bound execution. The experiment never makes live AI calls.
  5. Export the experiment JSON. It includes the sanitized captured project, actual source, settings, seed, measurements, trace and assertions. If you edit afterward, the displayed result is marked stale. Keep the export for comparison.