Motor Controller Working

I’ve got the wheels driving with the 2x50HV controller. The flaky e-stop (repeated momentary cut-outs) is a bit of a problem, but I think it can be fixed by tweaking the timeout of the xBee modems.

I’ve found while driving it that there’s not quite enough weight on the rear wheels, so rapid acceleration on smooth floors causes wheel slip. This is lots of fun for teleoperation, but will wreak havoc on odometry. I can avoid this by capping acceleration or by weighing down the rear of the robot. It may also be possible for me to shift the whole frame back a couple of inches on the base, but I’m not sure how much this will help.

Here’s a video of my first drivetrain test:

[youtube http://www.youtube.com/watch?v=sbYtRKhBsHU]