June 21

The slight shift of the hubs from the motor shaft was troubleshooted for the first half of the day. The second half was spent working on the autonomous slalom through cones, with it being able to go around one for now.

I started off the day by assessing what had gone wrong previously and found that I should focus on the wheels slipping off the motor shaft if I wanted the rover to clear the obstacle course and hill by Wednesday. I spent a lot of my time designing new hubs but I found that the main issue for why the hubs slipped off was that the Loctite on the screw holes had not dried yet. So I wasted too much time on this but I did learn how to make drawings to send to manufacturers. 

The second half of the day was spent using CodeX to make a program to go around the cone with a camera attached to the Raspberry Pi. A majority of this process was testing values like what percentage or where on the screen the cone should be in order to start turning. I was eventually able to get it to go around one cone but it would target the third cone in the slalom before the second one. I definitely want to work more on this tomorrow. 

Another task for tomorrow is designing and printing support braces for the aluminum chassis which saw some bending especially when turning. (I made the turning back to standard tank drive as the set screws were as big of an issue)