High Level Term Goals

Each bullet point is roughly organized in order. Term goals for each subsystem are ideally run in parallel (i.e. dedicated equal resources to develop drivetrain, arm science simultaneously).

Drivetrain

• Source a new battery

• Bring drive train to “M1 (milestone 1)” stage

  • fully functional prototype with controller (ebox, battery, comms equipment, gimbal, arm/science mounting plates, e-stop)

  • wired power, while looking for new batteries

  • wired cabling for controller

• Complete FW to commutate drivetrain motors with odrives

• Develop code to allow for drivetrain operation with physical controller (steering, driving speed modes)

• Comprehensively test the following attributes

  • Top speed / speed verification

  • Physical constraints (size and weight, module specific mass)

  • Threshold/terrain traversal capabilities

  • Motor performance / battery life

  • Gimbal vision stability

• Identify areas for improvement (hardware, fw, sw, controls)

...