June 28

Plus a 1.5x sped up video from yesterday’s test day with a cool flip

Fully printed new wheels and assembled them. Kept modifying IMU dead reckoning program. Modeled and printed motor mounts for flywheel test.

 I had left printing the three new wheel rims I needed for the new hubs but unfortunately it ran out of black filament half way through the night, so I needed to switch over to gray filament this morning. Eventually they printed and turned out good enough, so I started taking off the old rims from the tires and it was as much of a struggle as putting them on or more. I had to rip off the outer part of the rim but after a couple hours I got them done.

The next part that needed some tweaking was the dead reckoning program as like before it lost where it was after not seeing a cone. Today I used CodeX to make it so that the robot keeps tracking where it was using the accelerometer on the IMU to determine where it is from the cones but now it didn’t remember the last distance from the cones before it didn’t see them so it was way off. This is something that will take a lot more modifying with just the IMU and camera so like I said before it might just be easier to get a lidar system, which I’ll think over tomorrow.

Lastly, I modeled out how far apart every component of the flywheel system has to be so that tomorrow I can cut holes into an extra piece of sheet metal and model it before ordering the actual sheet metal. Based on the model I 3D printed a motor mount bracket to support where the motor should be. 

The next test date is this Friday and it will not be moved so the intake, pivot, and flywheels will probably not be completely done by then which sucks.