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- Mechanical state
- 1 Bogie popped off cause of the short screws
- Hard stops for the differential were a bust...lol. Needed very little clearance → further investigation to confirm
- Might want to invest in a Wheelez pressure gauge
- Weighed the prototype. It's 41.55 kg!!
- To do still:
- Repair bogie leg, reinforce with longer screws, more screws
- Assemble legs back onto the rover
- Secure bottom of MDF to crossbeams lmao
- Wiring/Controls
- Got current sensing working! There is quite a bit of noise though, so data will not be super precise
- Issues pulling the voltage data from the RPI
- To do still (Sahil):
- Write a function to pull the peak and nominal voltages. Print at the end of the .txt file
- Prototype results!
- High-stress locations:
- Connecting plates on the legs. When turning, these pates are getting pushed/pulled as the wheels resist the movement
- Connection point from the legs/suspension to the chassis. Is constantly twisting about that point during turns → maybe we continue allowing it to move?
- With little pressure, the differential bar will allow the chassis to pivot about the rocker beam. This is likely due to the differential bar being able to twist out of position and into its clearance zone
- Chassis bounces for on-the-spot turns. Something for EE & Arm team to keep in mind
- Having our motors protected/out of the way is a really good idea :^) Almost cracked one dragging it across a rock
- Totally bidirectional. Rocker arm should be the front for going over large obstacles, whereas use bogie for small & frequent obstructions
- To do still:
- Test turning scrub → to clarify
- Test against hills and sand
- Test CoG without battery
- Test different locations of CoG on obstacles
- Tread style testing → do we feel the need? Maybe assess after we drive in sand
- High-stress locations:
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