Finished wiring (wire management was a pain as always)
Finished printing the whiteboard mounts for the string
Started programming!
Tested all hardware for the swerve drive. The latest version of SimpleFOC (2.4.0) doesn’t work for some reason but the previous version (2.3.5) works perfectly fine. The as5600 encoders work great and track the rotation of the module nicely. I also made a few design changes to make assembly easier which includes changing the design of the encoder column support and the design of the standoffs.
Redesigned pen holder to hold the tip of the marker at the correct depth when deployed.
Things to do:
- Design spools
- Design corner mounts for the whiteboard to hold the string
- Program!
Swerve module v1 assembled! The gears mesh nicely and the entire system has a lot less friction than I thought it would :)
Things needed to do in terms of design:
- Design support for the shaft that holds the central drive gear column since right now its cantilevered.
- Redesign standoffs because the current design breaks too easily
- Design encoder for brushless drive motor so FOC can be used
Finished soldering wires to the motors and header pins to the encoders. Got stm32 nucleo 64 f411re working with platformio ready for programming along with the motor shield to control everything!
first assembly of the wall bot done in real life! Many modifications are needed, mostly regarding clearances, but the entire pen holder needs to be redesigned because it holds the pen to close to the bottom of the bot right now
finished building one module in real life!
finished the pen lifting mechanism, spools still need to be created
The main gantry is done except for the pen lifting mechanism. The spools for the rope still need to be designed as well as the mounts for the end of the rope.
Added drive column for drive gear train which is coaxial to the encoder column which has the magnet for the as5600 to track the module’s rotation. Done with the drive module for now, moving on to the motor mounts!
CAD for a single module done including gear relations. No motors yet
