...
- Finish hardware assembly for all modules (drivetrain, arm, gimbal, science, end effector)
- Determine redesign plan for all tested modules (drivetrain and arm, science)
- Provide mechanical support for all required tests (fixtures, mech debugging, etc)
...
- Complete updates to PDB, BMS and multiphase buck (all components in order processing by end of term)
- Refine power draw estimations / source newer battery pack
- Support drivetrain and arm testing (wiring, EE support, etc)
Firmware
- Achieve full functionality (motor control, PWM, PID, parameter logging) from odriveso-drives
- Integrate CAN with software team
- Finish coding for science boards (additional bonus)
Software
- Push first build of code on drivetrain (user controllable prototype)
- Develop low level controller to support arm testing
...
- Complete constraint verification on all modules (drivetrain, arm joints, science, end effector, gimbal)
- Complete core functionality testing on on all modules (drivetrain, arm joints, science, end effector, gimbal)
- Complete power draw testing on all modules (drivetrain, arm joints, science, end effector, gimbal)
...
Push first build of code onto drivetrain (commanding motors with rostopics, no hardware control interface) Austin Tailon Huang (Deactivated) Orson Marmon
Get calibration sequencing, PID and motor control working with ODrives
Complete all arm joint assemblies
Complete end effector assembly
Launch first team demo following midterms (in person planned event, pizza, drinks
)
July
Finish revisions to PDB/BMS
Finish science board assembly
July
Finish revisions to multiphase buck
Complete science assembly/Multiphase Buck
Complete mechanical science assembly (end of month)
Complete constraint verification and power draw testing on drivetrain
Complete low level arm controller
Complete lab tests for science package
Finish proposed onboarding/offboarding
Finish science testing plan
August
Complete constraint verification and power draw testing on arm joints
Complete constraint verification and power draw testing on science joints
Finish website updates
Complete confluence cleanup
Fully finish science board code by end of August
Fully complete first build of functional prototype code for drivetrain
Weekly Goals
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