The primary thing that I accomplished this week was finishing the assembly of the Janktroller++, which will allow us to begin some of our hardware testing. This involved soldering the rest of the components to the board, cleaning up solder bridges, and then wiring it up and running some initial diagnostic tests. Having a working Janktroller will give us a good platform for developing our firmware with lower stakes before moving onto a bigger controller. I have also started working on a basic motor simulator, which will allow us to sanity check all of our math and hopefully avoid a sign error leading to things blowing up. In the next week, I hope to exercise more of the Janktroller functionality, depending on how far firmware gets, so that we can make sure that it meets basic goals in measurement accuracy and the like, the requirements for which will be further quantified though simulation. For the foreseeable future, I think most of the requirements we see will be smaller intermediary things like that. I don’t have a picture, but Charles saw the board program and blink.