Today, our main focus revolved around the completion of our drive train and wrist components. The drive train's core design remains in line with its prior iteration, with a significant alteration — a noteworthy reduction in size. This change is motivated by the expectation that this downsizing will enhance the project's capacity for suspension-related functions. We're eagerly awaiting the delivery of the metal gears. Their arrival might necessitate further adjustments to optimize our project's performance. To enhance our drive train's functionality, we've introduced a small-to-large gear ratio configuration, aimed at augmenting torque. Concurrently, for the wrist component, we've incorporated a torque servo. Although with some reservations about its ability to meet the expectations placed upon it. During the course of our work, several pertinent issues and questions have come to the forefront. Foremost among them is a malfunctioning motor associated with the right wheel, demanding our immediate attention. Furthermore, we're looking forward to Mr. Newman gaining proficiency in TensorFlow programming, a skill essential for effective guidance and instruction. The question of balance remains paramount. It's imperative to ensure that our drive train maintains equilibrium during operation and steers clear of tilting tendencies. This calls for meticulous calibration and fine-tuning. The decision to remove the expansion hub is a substantial one. This prompts contemplation regarding potential delays or complications in the project's performance in light of its absence. Lastly, the ever-ticking clock prompts us to evaluate the available time for practice in project operation and the demanding programming tasks ahead. Effective time management is central to the project's ultimate success.

There are still some things that i think need to be changed on our robot. for example the claw and the wrist, mainly the wrist. There is too much weight on our claw so the torque servo mounted on for the wrist struggles to pull the claw up. Maybe i could mount the servo onto the claw directly instead of using the gear not sure how the designing for that would work. but it is definitely something i want to try to see if it will improve the wrist when it moves up at all. And if it doesn't we might need to use one servo for the claw, because the wrist really is slowing us down.