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