June 23

I know this is a day late, I just forgot to post yesterday.

Soldered broken 3 phase motor wire back together. Rearranged electronics and wires to lessen the stress on the wires. Calculated necessary motor strength to pivot the intake mechanism. 

Again the test date got pushed back a day but this gave more time to fix some issues like the ripped motor wire. I was able to solder it back together by taking the motor apart and finding where the wire broke. I applied some shrinkwrap onto the wire and then a bigger shrinkwrap to join all three wires so that they share the stress if bent.

The reason the wired broke was likely due to it rubbing against the back section of the chassis when the front section pivots. I did some wire management so that this wouldn’t happen, which also made the rover look a bit nicer.

After a bit of driving the rover making sure that the new wire arrangement worked, I learnt how to calculate torque and how to compare that to servos. Initially I thought that servos would work as the intake would only have to pivot around 30॰, but after the calculations it would be necessary to use a linkage since servos within our price range would be too weak. So I looked into worm gear motors with ultra low rpm, around 15 rpm, which would hopefully provide enough torque to rotate the intake.

The test date also got pushed to tomorrow so the IMU, which arrives tomorrow, would give us a better way to dead reckon.