January 24th, 2023
Firmware:
Position control for gripper motors
Working on torque control
Need RS422 boards
Can’t find them
May need to make more of them (Rishith)
PDB Reduced Viability Plan:
Confirm the required voltage for comms
Jetson, gimbal, vector nav, antenna – need voltage for these
We just need to power the routers for comms
Everything is powered by
24V at 1.5A
Science--Mechanical Assembly:
Waiting on a motor (chan)
All set to go except for the motor
Claire reaching out to Chan for what can be tested
Other Mech Updates:
E-Box: still working on the design
Can use the current one for now
Arm: meeting later this week to test some of the axes
Try and get the motors moving
Battery mount: hoping to finalize the BOM this week
Software:
Working on getting drivetrain running in simulation so that we can write a joystick driver to control the robot driving around in simulation
working on hardware interface (moreso converting the CAN wrapper to a ROS package)
Working on ROS control with hardware interface → have an issue rn where the controller isn’t sending and receiving messages
Working on arm controller
Finished documentation for installing ROS on windows with Docker
Comms:
Network is set up for no duplicate packets (bad)
One of the routers is restarting during testing breaking up the connection
Don’t know why
Routers are switches
Drop the 5, drop the 900, go for 2.4, test with only one router
Just get 2.4 up for SAR