The goals of this project are to:
Create a controllable drive base
The drivebase should have two motors/gearboxes and wiring for all electrical components
A remote controller should be used for driver input
We designed two drivebases (12x24 and 18x18) and layed out what dimensions we would cut wood to in order to fit these geometries.
18x18 drivebase breakdown
12x24 drivebase breakdown
We were able to re-utilize work from the Drive Train Test Board in order to drill appropriately sized holes for bearings and the gearbox plate.
To determine the best drivebase geometry, we created two drivebase frames: an 18x18in frame, and a 12x24in frame. Each frame was made from 4 segments of 2-by-4's and a plywood sheet for the belly.
18x18 drivebase
12x24 drivebase
Unexpected things happen! During the construction of our 12x24 drivebase, we were attempting to use the drill press to make a bearing hole when a piece of the wood snapped off! We glued it back on using wood glue.
Broken wood
Glued back on
There were also some issues with aligning the screws with the motor plate. The holes did not end up being drilled correctly, and required us to re-drill.
During the machining process, we began working on code for our motors. To meet our goals for this project, we need a drivebase with a means for controlling it. As such, we coded software that uses a remote controller to determine direction and velocity of a motor.
Motor Control using PWM output from an Arduino
Controlled Motors using a remote controller
In order to attach the electronics to our drivebase, we needed to drill holes at planned locations for the electronics.
Drivebase with holes drilled for zip-ties
Drivebase with electronics layout
This project is not complete yet. It will be finished in the second semester.