Week 6

Overall Progress

Accomplishments

Mechanical:

• Design new drive train (replacing current gear train with pulleys and timing belt) and order parts.
• Waiting on parts delivery to design 3D printed mounts and pulleys

Electrical:

• Rewired battery terminals more securely because it was having problems staying attached
• Acquired, wired gyroscope to arduino mega

Software:

• Virtual joystick on web page, which translates the x-y position of the joystick into left and right motor speeds. This will be sent to the arduino for manual teleoperation.
• Arduino microcontroller accepts formatted integers for motor control.
• Status messages that would be changed depending on sensor input.

Challenges

Mechanical:

• Redesign of drive train, couldn't make progress in the CAD part since we were waiting on parts all week.
• Issues with the 3D printer.

Electrical:

• Waiting on ordered parts to arrive

Software:

• Some challenges with integration with the electrical systems.
• Weird issue in which the right motor is receiving delayed commands

Plan for week 7

• Mechanical:
  • Finish finalizing mount and pulley design for the drive train
  • Finish finalizing design for res
  • Complete 3D printing and assembly

Electrical:

• if ordered parts come in, assemble power distribution and new motors
• Start experimenting with gyroscope

Software:

• Add more actions corresponding to the mechanical features added in the coming week.
• Make status bar on website respond to sensors.
• Essentially, more integration.