Our Systemcore Alpha Test

Goals

• Small footprint - small actuators -> small robot

• Demo speed and power of actuators

  • 4 Mecanum drive - 500rpm (fast)

  • 4 Servos manipulation - 215rpm (strong)

  • 1 actuator at the tip of the arm 

• Systemcore & Motioncore visible for demo

• Code for minimal battery use & longest run time

• Latest alpha versions of firmware and control software

Learning

• Out of the box mounting to the spline shafts is loose

• Hardware/Software causes glitches during operation

  • Re-enabling  disabled motors smoothly is tricky

  • Arm ocasionally moves/drops on its own

• Current dashboard cannot read the CAN bus data from v15 firmware (see image below from earlier release)

• Not all DriveController button convience methods return data

• Actuators fast and strong - absolute positioning is very useful

• Disabling opmode stops motors immediately for safety