The reliability program
is on going, I have identified many problems
that need correcting
the most surprising is heat the weather has been
very hot of late
causing the computer to reset. On the software side
the old repository had
to many old programs that were several versions
old I have replaced the
structure with a more ROS like structure.
I have refreshed the
moveit package and now control both arms
with Moveit. While it
works with out tearing it self to pieces the old
L298N motor drivers are
not really up to the task, they lack control below
70 PWM making fine
adjustment near impossible. I never had the I2C bus
working with the
Arduino Due reliably so I reverted to using a Arduino UNO
I still have the
occasional glitch especially when doing restarts and poking
around the boards. That
brings us to the subject of wiring, crimp pins
(header types )are not
the best for a robot, they have been the biggest
problem to reliability
I will go with aviation style solder pins and plugs.
The
new motor drivers will be MC33887
with magnetic encoders not sure
what
to do with the I2C bus
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