# Testing devices connected to the TRIK controller

{% hint style="info" %}
This article is automatically translated from Russian by Google Translator.
{% endhint %}

On the TRIK controller you can test the devices connected to it:

1. Analog sensors
2. Servo motors
3. Power motors
4. Digital sensors
5. Encoders
6. Gyroscope
7. Accelerometer
8. Camera

To do this, go to the Test menu.

![](/files/-MSkicC1XJ8M7JuVJV7S)

{% hint style="info" %}
**Warning!** The device must first be connected to a specific port to test it. To test the device, you must first connect it to a specific port.
{% endhint %}

## Analog sensors

To start testing analog sensors, select the corresponding item in the list.

| ![](/files/-MSkik8eH9s5J5cqfE8e) | ![](/files/-MSkionAVrg3e0SWUeTD) |
| -------------------------------- | -------------------------------- |

### Configuration of ports for analog sensors

| Port  | Configuration                |
| ----- | ---------------------------- |
| A1–A2 | <p>Infrared distance sensor. |

</p><p>Value limits: 8-80 cm.</p>                                                                                            |
| A3–A4 | <p>Touch sensor. Values: 
</p><p>0 - no touch, 
</p><p>1 - pressing.</p>                                                                                  |
| A5–A6 | <p>Light sensor. 
</p><p>Value limits: 0-100. 0 - white, 100 - black. 
</p><p>The sensor must be installed at a distance of 8-15 mm from the surface.</p> |

## Servo motors

1\. To start a servo test, select the corresponding item in the list.

![](/files/-MSkj-63DKScP1C9-jRu)

2\. Select the port to which the servo drive is connected. The servo drives are connected to ports S1-S3.

![](/files/-MSkj61csH1p9onemzoh)

3\. Press the "Enter" button on the controller to apply power to the servo drive.

4\. If you add power with the "Right" button, the servo will rotate clockwise.

![](/files/-MSkjAaRCuCo6mI_PfdB)

5\. If you turn it down, it's counterclockwise.

![](/files/-MSkjF97yvp1Hs7rFy-s)

## Power motors

1\. To start the power motor test, select the corresponding item in the list.

![](/files/-MSkjKC84owqZ1SGQDHE)

2\. Select the port to which the motor is connected. The motors are connected to ports M1-M4.

![](/files/-MSkjONQePnzXUlOyt0m)

3\. Press the "Enter" button on the controller to apply power to the motor.

4\. If you add power with the "Right" button, the motors will spin forward.

![](/files/-MSkjSeQNV32cqRQPulK)

5\. If you turn it down, back up.

![](/files/-MSkjWHAVqpNLZz1N3jL)

{% hint style="info" %}
**Warning!** If the motor rotates in the wrong direction, just change the direction of the current, disconnect the power wire and insert the other side.
{% endhint %}

## Digital sensors

To start testing digital sensors, select the corresponding item in the list.

| ![](/files/-MSkjd0ejiFsRzYmdX-R) | ![](/files/-MSkjgpKg8zNxWI__c7j) |
| -------------------------------- | -------------------------------- |

### Configuration of ports for digital sensors

| Port  | Configuration                  |
| ----- | ------------------------------ |
| D1–D2 | <p>Ultrasonic distance sensor. |

</p><p>Value limits: 8-250 cm.</p> |

{% hint style="info" %}
**Warning!** If the sensor reads -1, then it is either too far away from the object or too close to it.
{% endhint %}

## Encoders

1\. To start the encoder test, select the corresponding item in the list.

![](/files/-MSkjpIl2SGR1tz50DIa)

2\. Connect the wheels to the motors with a bushing.

3\. To test the performance of the encoder, rotate the wheel back and forth and watch the encoder readings change.

![](/files/-MSkjunEO0-0kBhrL628)

{% hint style="info" %}
**Warning!** Encoders are incremental. When scrolling the motor the encoder value can be either negative or positive.
{% endhint %}

## Gyroscope

1\. To start the gyroscope test, select the corresponding item in the list.

![](/files/-MSkk6N5f4-GhpeA2GUu)

2\. To test the performance of the gyroscope, change the position of the robot in space and see if the readings change.

![](/files/-MSkkUVQI1EGQ-_L5-Uy)

{% hint style="info" %}
**Warning!** All readings are in milligrades.
{% endhint %}

## Accelerometer

1\. To start the gyroscope test, select the corresponding item in the list.

![](/files/-MSkk_wrxnv-a-g5ukLP)

2\. To test the performance of the accelerometer, change the position of the robot in space and see if the readings change.

![](/files/-MSkkhBOGK6KvhzcGbbN)

{% hint style="info" %}
**Warning!** All readings are in milligrades.
{% endhint %}

## Camera

![](/files/-MSkl-Mhj_46g2ob0AYh)

If the camera is working properly, it should display an image on the screen.


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