Drivetrain

Requirements

• Wireless
• Control 6 motors → lump each side into one control signal
• Implement current sensors
• Controlled using Xbox

Control system

• Controller → Base station
  • Base station interfaces with the Xbox controller code
  • Show log of wheel torques (derived from current sensor data)
• Base station → Pi Web Server
  • Pi Web Server interprets the controller's commands and broadcasts it to the Python's wifi
• Pi Web Server → Control thread → Motors
  • Python executes the commands to control the motors

To do - Drivetrain

• Develop wiring plan for drivetrain → Mathieu
• Create base station code (Python) → Sahil
• Create Pi Web Server code → Emily
• Create control thread code to run the motors → Mathieu

Arm

Requirements

• Implement current sensors
• Control 6 motors independently
• Controlled using Xbox

Control system

• Controller → Base station
  • Base station interfaces with the Xbox controller code
  • Show log of joint torques (current logging)
• Base station → Arduino MEGA → Motors
  
  • Arduino MEGA interprets the controller commands and executes them to run the motors

To do - Arm