Well, got the motors hooked up, propped everything up on a box, attached the bench power supply to it and tested the track system out. I knew that the tracks were a bit loose, dropping a tread made it too tight and hard for the sprockets to turn, and I thought that they wouldn’t be too loose. I was wrong!
The test went well till about half power, and then it threw a track. I noticed that it started skipping a bit as it got faster and definitely got louder the faster it went. I might be able to get away with the present tracks, but why invite failure? So found the original drive sprockets and printing out sixty new tracks. These should work better, just will have a lower cool factor.
In Other News
Still working on the battery holder design, have designed the holder for the SR-4 SONAR systems and looking into making the Arduino Bluetooth enabled so it can be monitored in real time. I may make a video on how to setup the ESP-12 WeMos Microcontroller, since I’m not finding a very good one on YouTube.com, so far.
By the end of the week, there should be a complete pair of tracks ready to mount on a chassis. The chassis is still in the design phase, though. It has to hold the dual gear motor assembly, and six 18650 batteries in appropriate compartments, eventually a triple axis accelerometer, a set of charging studs and be resilient enough to take moderate knocks without breaking, not to mention the amount of wires going to and fro to the micro controllers, dual H bridge, motors, etc.,. A lot of thought is going into this part, because the decisions made now will affect the the design of the rest of the body and it’s capabilities. Something tells me that I am either going to go through a lot of electrical tape or heat shrink(which I’m sure it’s not the size that I have). The good news is that it will all fit, and that there will be no laws of physics or even bent to get it all in there(fingers crossed, cuz the fine for trying to break the laws of physics is failure). Time just has to be set aside to finish the designs and the last unopened spool of orange PLA loaded onto the Creality Ender 3, so that the idea of the chassis is made physical.
So there is a completely finished track, pic below:
2nd Level Robot, or Taking It to the Next Level
I was looking at the specifications of the ultrasonic range sensors in the SR-04 family, and yes they wide cone that can detect an object at a good range, it initially seemed to create some issues. I was thinking of making the bot body taller so that it wouldn’t be creating false triggers, and thought of putting the receiver module part of it in a tube so that it wouldn’t receive pings of the bot body and a few other off the wall ideas that probably wouldn’t work, anyways. So the final solution that got the go ahead to be designed for was…..wait…..dun dun dunn!….Put two sonar modules and get the twice the data to sort!! What does this solve? A lot really, if you mount at 90 degrees apart of each other then they will be closer to the outer perimeter of the bot body, which means it can be shorter, the servo doesn’t have to make a full sweep for the sensors to get enough data for the micro controller to form a map for the main micro controller to decide how to proceed and if the robot is following the plotted course.