...that is to say, after installing the new computer psu, installing an old avr + 2x lmd18200 board I had around, giving the batteries an hour-long 75 watt jolt, it's now possible to ssh into it over wifi and drive it around. It doesn't really look different from the last photo other than some messy cables, but it *moves*. Some thoughts occur:
- I didn't actually calculate the acceleration forces when spec'ing the springs for the omni casters. They are way too wimpy and way too linear. I'm going to have to revise that part of the design with much tighter springs and zero negative deflection. (right now negative and positive deflection are both 0.5") These days it may be easier to gyro-stabilize a bot like this (like crunch) than get casters to work right.
- It doesn't really move until you give it about 60% pwm power. This is sort of annoying because it's going to be hell closing the control loops. Those beefy pittmans presently bolted into the now-defunct logo are looking pretty nice.
- There is no discernible front or back. Obviously. But now things have gotten to a point where that is annoying.