Robot validation checklist

Do not begin at full voltage. Put the robot on blocks for sign checks, then use a clear field, an accessible disable control, and a conservative voltage cap.

• [ ] Left/right voltage signs and encoder signs agree.
• [ ] Heading convention is radians and counter-clockwise positive.
• [ ] Length units match across poses, encoders, track width, and limits.
• [ ] The control loop is periodic and measured dt stays below 100 ms.
• [ ] Wheel circumference and effective track width are measured.
• [ ] Feedforward is identified independently for both sides.
• [ ] Wheel PID is stable before pose feedback is enabled.
• [ ] Divergence limit stops a deliberately incorrect starting pose.
• [ ] Timeout and operator cancellation command zero volts.
• [ ] Low-battery saturation preserves left/right ratio.
• [ ] Straight, curved, reverse, S-curve, and short paths pass repeatedly.
• [ ] Payload and intentional starting offsets do not cause oscillation.
• [ ] Logs show reference and measured pose/wheel speeds/voltage/status.