About this document:
This document is a risk assessment of the current drivetrain system. This document aims to provide a practical integration plan for the drivetrain to be done and showcase to Teerestra.
Motor Controller:
At high risk (blocking for two months)
Plan A: Continue Odrive integration
What needs to be done?
Test with Odrive pro with GUI (think will be a lot easier)
Keep trying with the current ones
Reach out to the advisor
Final deadline: May 22nd
cost: 1000
Assignee: Josh Magder
Benefit:
The software wrapper does not need a lot of change
Disadvantage:
Failed to meet the deadline
Plan B: Need to find a more fundamental motor driver to try
Short-term plan: two motor drivers for proof of concept
Long-term plan: If needed, buy all six motor drivers and continue integration
What needs to be done?
research
Final deadline: May 22nd
Assignee: Yuchen Lin
Cost: 1000
Benefit:
Easy control?
Disadvantage:
uncertainties
Battery mount
Medium
What need to be done
need to have a specific plan
Sheet metal base for battery (temp alum extrusion)
Final deadline: May 29th
Last resort: bend plastic
Asignee: Saheed Quadri Yuming
Communication system
Medium risks (haven’t tested anything similar before)
Outstanding tickets:
ROS messages testing
Serial script testing
Final deadline: May 22nd
Assignee: Alex
Drivetrain software
Low risks (Motor driver is blocking rn)
Outstanding tickets:
Testing (should be good to go)
Check communication with CAN Wrapper and check the message.
Final deadline: May 31st
Assignee: Alex
E-BOX integration
Medium risks (Motor driver is blocking rn)
Outstanding tickets:
Install all the hardware
Create the harness
Make sure it works
Final deadline: June 2nd
Assignee: Rayyan Mahmood Yuchen Lin
CAN/PWM wrapper(motor driver dependent)
Medium risks (Drivetrain software is blocking rn)
Outstanding tickets:
Connect jetson to the rest of the system through CAN
Send CAN through terminal → Just make sure connection
Blocking:
Drivetrain code is ready and can test the wrapper (may need to use other wrapper is odrive does not work)
Final deadline: June 4th
Assignee: Josh Magder
Rover final ready date: June 10th