The mass of each of the following items should be recorded:

Description	Measured Mass (kg)
Chassis (MR22-DT-A0014)
Differential Bar (MR22-DT-A0007)
Suspension Bar (MR22-DT-A0015) *Weigh and record each suspension bar separately
Wheel Module (MR22-DT-A0030) *Weigh and record each wheel module separately
Electrical Box (MR21-EB-B-Ahu) *Weigh ebox with all interior components (fan, jetson, odrives, etc) and wiring *Ensure that proper adapters are installed
Battery Pack (P/N TBD) To be revised when proper battery pack is selected. In mean time, measure, weigh, photograph and document whatever battery solution is installed on rover
Full Drivetrain Assembly Measure and weigh a fully functional drivetrain (no gimbal, all components described above installed, wired and functional)

The overall dimensions of the drivetrain should be recorded.

Competition Constraint: Drivetrain must fit in a 1.2m cube

• Measured Length:

• Measured Width:

• Measured Height:

THIS IS A DESTRUCTIVE TEST, AND SHOULD ONLY BE PERFORMED AFTER ALL OTHER TESTS HAVE BEEN COMPLETED. PLEASE CONTACT Austin Tailon Huang IF YOU WANT TO RUN THIS TEST

Test Details

• Fully assemble a functional drivetrain (drivetrain, EMPTY ebox, wheel assemblies, battery pack, no gimbal)

• Drop assembly from 1m height

• Observe any mechanical failures, failed wire connections, broken components, etc.

• Determine if drivetrain prototype is capable of being controlled at the same efficacy before and after drop

• Take video footage of drop with slo motion camera (phone camera is probably OK, just frame the video from multiple angles)

Test Details

• Label each wheel module with a number (1-6). Stick this label directly on the wheel module somewhere it will not fall off

• Spin an unloaded wheel assembly off of nominal voltage (no PWM) and record current via multimeter over an average of 30s steady state current draw

  • Unloaded motor should have a stable and consistent current draw, if you see minimal rate of change on motors you

• Wheel assembly should be suspended in air (no physical load on wheels)

• Collect current draw for each wheel / motor assy

• Repeat for forward / reverse wheel driving

• Take a picture of the physical testing setup

Test Purpose

This is a very useful test to vet out the following data points

• Baseline wheel assembly efficiency

• Determine assembly variability (poorly assembled wheel assy can draw more current / have higher current variability)

• Current should not vary based off of rotational direction, so collecting data to verify this fact is useful

Required Hardware

• DC Power Supply (no odrive required)

• Multimeter (probing motor leads)

Test Details

• Use the same labels on the wheel modules as specified in the previous test. In a diagram, identify which wheel corresponds to which number.

• Record weight of total moving system prior to collecting any data

• Mark a start/finish point on the main bay floor of a known distance (i.e. 5m),

• Power all 6 wheels forward with nominal operating voltage simultaneously

• Record the time it takes to complete the known distance of travel (with physical stopwatch, rough physical estimation) using timer, iphone video, it doesn’t really matter

• Record encoder estimated RPMs for all wheels during test (CSV format preferred)

• Record current going into each wheel on each test (CSV format preferred)

• Take a video (from multiple angles) of the rover driving through this runway

• Repeat this test 3 times

Test Purpose

This is a very useful test to determine the following:

• What is our motor performance on basic terrain (current, motor RPM)? The floor in the bay is flat and smooth, and should represent the easiest driving conditions imaginable

• How poor is our straight line performance without PID?

  • In an ideal world, all wheels should have the same efficiency and floor speed and the rover should go straight without any PID. This is very unlikely to happen, but it would be good to see how far off we are for a reference point

• Are our encoders properly calibrated? We can compare the physical drive speed to the encoder recorded wheel speeds to determine if there is any variability between these data points

Required Hardware

If the odrives are tested and ready to use:

• Battery Pack

• Odrives

• Input from other leads

If odrives are still being tested / verified, we should be able to do this with just power supply, long extension cable and arduino setup.

• Motors can be controlled simultaenously off of one channel of the power supply

• connect current sensors to each of the motors which are hooked up to analog pins on an arduino

• encoder outputs connected to digital pins on arduino

• no PWM control on motor (nominal voltages only)