Now we're crawling!

A project log for "Tenacity": Yet-Another-Sawppy-Project

Inspired by Roger and others, I'm making a SAWPPY-Alike rover, adding my own tweaks and mods.

steveSteve 08/10/2020 at 05:093 Comments

I just really could not be happier at this point and have been posting this everywhere else on the Intercats, so this page should get the update too :)

The new metal bits I described in the previous post are installed. Set screws are biting hard against metal vs. sqooshing into nylon. It's like a whole new rover!


Steve wrote 08/11/2020 at 21:40 point

No, that's actually happening IRL and is  yet-to-be-debugged issue.

It might be because one servo is just in plain better shape that the other(s)(These Dynamixels saw some use before being installed on Tenacity).  It could also be that the servo firmware  is not programmed the same on all 4.
I should look into that.

I'm glad you liked the video. Thanks for inspiring all of us SAWPPY-builders with your project in the first place.

  Are you sure? yes | no

Steve wrote 08/14/2020 at 17:11 point

I checked out the individual servos w/ Dynamixel manager yesterday and they're all programmed the same. I think the next thing to do is go look at the dynamixel driver ROS node.

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Roger wrote 08/11/2020 at 09:06 point

I'm thankful for your research and report into 3D printed shafts so we all know the current state of the art, and happy to see Tenacity up and running on metal shafts.

Question: the (from Tenacity's perspective) right front steering servo appears to move to new position much more quickly than the left front steering servo. Is that just an artifact in the video or does that reflect reality?

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