June 22

Added more support braces to metal chassis. Rearranged electronics to make room for an intake and worked on autonomous cone slalom. One wire of a wheel motor tore off and needs to be replaced or repaired.

From yesterday’s few tests driving the rover at speeds above 25% the chassis seemed to bend inwards, especially with the new 8” inch wheels. So I designed braces that would go on the back section of the chassis and made a piece to link both L- support braces. 

While the supports printed I rearranged the electronics onto most one side of the chassis in order to fit the intake in the middle.

Since the next test date got moved to Thursday I had more time to try and get the rover to do the cone slalom autonomously. A majority of the time spent was adjusting values like what percentage of the cone should be on the screen before it stopped turning. 

I later decided after a couple hours of not much luck to switch over to dead reckoning. I had CodeX make me a program to record and replay inputs which worked semi consistently but varied a lot since I couldn’t start the rover in the exact same position. 

After running the dead reckoning multiple times I saw that one wheel wasn’t really spinning. I looked into this and realized that one of the 3 phase motor wires has come off the motor. I’ll try and repair it tomorrow but it may not be possible. So for Thursday the rover might just need to run off three motors