\chapter{Test Specifications}
\label{app:test_specification}
\setcounter{testcounter}{0}

    \begin{test}{Small rectangle}
        During this test, a rectangle will be drawn on the whiteboard using the SCARA.
        This rectangle is will be at least \SI{50}{\milli\meter} high and \SI{70}{\milli\meter} wide, such that three characters fit within the rectangle.
        To test the speed requirements, the rectangle should be drawn within one second.
        \tcbline
        \begin{description}
            \item[Features:] SCARA
            \item[Specifications:] 3, 7, 11, 13
            \item[Results:] The test passes when:
                \begin{itemize}
                    \item Rectangle height is at least \SI{50}{\milli\meter}
                    \item Rectangle width is at least \SI{70}{\milli\meter}
                    \item Completion time is less than \SI{1}{\second}
                \end{itemize}
%                The SCARA must draw a square of at least \SI{50}{\milli\meter} high and \SI{70}{\milli\meter} wide.
%                This box is large enough to draw at least 3 characters.
%                This square should be drawn within one second.
%                If it is slower than that, it is not able to achieve specification 7.
        \end{description}
    \end{test}

    \begin{test}[label={test_perimeter}]{Perimeter}
        The carriage must move along the outer edges of the text area.
        This area consists of three lines of text with fifty characters each.
        Resulting in perimeter of \SI{1000}{\milli\meter} wide and \SI{250}{\milli\meter} high.
        This proves that reach of the system is sufficient to write the text.
        Furthermore, the carriage should move outside of the perimeter as well.
        Moving outside of the text area is to prove that carriage has a position where it does not obstruct the written text.
        \tcbline
        \begin{description}
            \item[Features:] Cable Bot
            \item[Specifications:] 1, 2, 6, 11
            \item[Results:] The test passes when:
                \begin{itemize}
                    \item The carriage moved along the edge of the text area.
                    \item The carriage moved outside of the text area.
                \end{itemize}
        \end{description}
    \end{test}

    
    \begin{test}[label={test_speed_carriage}]{Cable Bot Speed}
        The carriage must be able to move a distance of \SI{80}{\milli\meter} in horizontal direction to move within a second. 
        At the start and the end of the movement the speed of the carriage must be zero.
        This is to ensure that the SCARA can then write its characters at the given position.

        \tcbline
        \begin{description}
            \item[Features:] Cable Bot
            \item[Specifications:] 7, 14
            \item[Results:] The test passes when:
                \begin{itemize}
                    \item At the start and end of the test, the carriage does not move relative to the board.
                    \item During the test, the carriage has moved \SI{80}{\milli\meter} within \SI{1}{\second}.
                \end{itemize}
        \end{description}
    \end{test}


    \begin{test}[label={test_triple_char}]{Triple Chars}
        The SCARA together with the end-effector must write 3 characters without
        moving the carriage. This extends on the small square but the
        end-effector must now be able to lift the marker of the board. The three
        characters should be written on the board within two seconds.

        \tcbline
        \begin{description}
            \item[Features:] SCARA, End-Effector
            \item[Specifications:] 3, 4, 12, 13
            \item[Results:] The test passes when:
                \begin{itemize}
                    \item The SCARA wrote three characters on the whiteboard within \SI{1}{\second}.
                    \item The carriage did not move more than \SI{10}{\milli\meter}.
                \end{itemize}
        \end{description}
    \end{test}

    
    \begin{test}[label={test_tool_change}]{Tool Change}
        Tool changing is not a specific part of the specification. 
        However, the system has to switch in some way between the marker and a wiper, or a different color. 
        For this test the system must switch a tool within 10 seconds.
        \tcbline
        \begin{description}
            \item[Features:] SCARA, End-Effector
            \item[Specifications:] 16
            \item[Results:] The test passes when:
                \begin{itemize}
                    \item A tool is released from the end-effector and stored for later use.
                    \item A different tool is attached to the end-effector.
                    \item The tool switch is completed within \SI{10}{\second}.
                \end{itemize}
        \end{description}
    \end{test}


    \begin{test}[label={test_repeat}]{Repeatability}
        This tests if the Writer can reach draw repeatedly on the same position on the board.
        The system will start with drawing multiple \SI{60}{\milli\meter} squares on the board in a random location.
        To test the repeatability, a circle with a \SI{55}{\milli\meter} diameter must be drawn inside of the square.
        This should be done with twenty squares in an area of at least \SI{1000}{\milli\meter} x \SI{300}{\milli\meter}.
        The drawing order of each square must be different from the drawing order of circles, this ensures that the Cable bot makes a different approach path.
        \tcbline
        \begin{description}
            \item[Features:] SCARA, Cable Bot
            \item[Specifications:] 3, 4, 9, 11
            \item[Results:]
                The test passes when:
                \begin{itemize}
                    \item Each square has a circle drawn inside.
                    \item The squares and circles are within \SI{5}{\milli\meter} of their given dimensions.
                    \item All the circles are completely within their corresponding square. 
                \end{itemize}
        \end{description}
    \end{test}

    
    \begin{test}[label={test_linear}]{Linearity}
        The system must draw a grid on the drawing range (\SI{1000}{\milli\meter} x \SI{300}{\milli\meter}), with the horizontal and vertical lines spaces \SI{100}{\milli\meter} from each other.
        The distance between two horizontal or two vertical lines cannot be smaller than \SI{90}{\milli\meter} or larger than \SI{110}{\milli\meter}. 
        The lines are not allowed to deviate more than \SI{10}{\milli\meter} in a line section of \SI{300}{\milli\meter}.
        \tcbline
        \begin{description}
            \item[Features:] SCARA, End-Effector, Cable Bot
            \item[Specifications:] 
            \item[Results:] The test passes when:
                \begin{itemize}
                    \item All lines are drawn, 11 vertical and 4 horizontal lines.
                    \item All lines in parallel separated from their neighbor by atleast \SI{90}{\milli\meter} and atmost \SI{110}{\milli\meter}.
                    \item Each line does not deviate more than \SI{10}{\milli\meter}.
                \end{itemize}
        \end{description}
    \end{test}

    \begin{test}[label={test_writing}]{Writing}

        To test the complete writing abilities the following text must be
        written on the board:

\begin{verbatim}
THE QUICK BROWN FOX JUMPS OVER THE LAZY DOG!?@,.-
0123456789101112131415161718192021222324252627282
the quick brown fox jumps over the lazy dog!?@,.-
\end{verbatim}

        This is a full 150 character area. It must be readable and write all the
        characters correctly. It must be completed withing 150 seconds. Which is
        2 minutes and 30 seconds.

        \tcbline
        \begin{description}
            \item[Features:] SCARA, End-Effector, Cable Bot
            \item[Specifications:] 1, 2, 3, 4, 6, 7, 11, 12, 13, 14, 15
            \item[Results:] The test passes when:
                \begin{itemize}
                    \item The text as described is readable from a atleast \SI{4}{\meter} distance.
                    \item The text is writen on a clean whiteboard within \SI{150}{\second}.
                \end{itemize}
        \end{description}
    \end{test}

    \begin{test}[label={test_wiping}]{Wiping}
        The complete board must be cleared of any marking within 60 seconds.
        This is without the change of tool.

        \tcbline
        \begin{description}
            \item[Features:] SCARA, End-Effector, Cable Bot
            \item[Specifications:] 8, 10, 5
            \item[Results:] The test passes when:
                \begin{itemize}
                    \item The system cleaned the board within \SI{60}{\second}.
                \end{itemize}
        \end{description}
    \end{test}
