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- Mechanical assembly
- Frame and chassis fully assembled. Wheels corrected (will reliably move with the motors now)
- Differential bar attached, with the eye joint linkages at roughly the correct lengths
- To do still:
- Print and add bolt spacers on the differential bar linkages
- Reattach the bottom, differential mounting gusset to the chassis with its spacers
- Cut and add wheel treads
- Print battery and weight holders, add to bottom layer of chassis
- Learnings so far:
- Experienced failure at the motor to the wheel shaft connection. Connected the shafts by a set screw in a coupler, without any modification to either shaft. The set screws were not able to grip onto either shaft in this state and ended up slipping. The solution: pair each shaft with a key that fits into the coupler. The set screw digs into the flat surface of the key
- Should definitely press-fit bushings/bearings. Contributes to wiggle in the joints (i.e. at the bogie joint), and for bushings especially, ends up spinning in the plate
- Design and manufacture with adjustability – will save time in the future
- Wiring
- Bulk of the connections completed
- To do still (by Sahil/Lance, who offered to help):
- Validate that the raspberry pi will be functional?
- Add 12 AWG ground wire from the PDB. Connect to the stack of ground connections from a mating battery cable and the PDP
- Connect the positive wire of the mating mattery cable to the circuit breaker
- Wire up the current sensors to the ADC and rpi
- Wire up the motors to the Cytrons
- Mount electronics board to the chassis via hinges
- Controls
- Basically, starting from scratch (as per Sahil's request)
- To do:
- Driving RC code → Covered by Sahil
- Wireless communication from PC to rpi
- Collecting current sensor outputs
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