This week, I worked on creating a full simulation/working prototype of the electrical part of our device, and I am still working on debugging issues by simplifying to one set of motors instead. They seem to work well in sync with each other, however the algorithm with the motion sensor is not clear yet so that requires more coding/debugging. However, it will be resolved way before the demo day. There has been a change to our design due to my discovery that we are missing a converter for the stepper motor, but it would be better anyways to use our extra servo motors instead, so the stepper is a potential add-on rather than an official part of our full prototype.
My schedule is on track as of right now- I just need to debug the servo connections, but luckily my already-written code works well even with the 20kg servo, which was an initial worry but that has been resolved.
My goal is to move on to expanding to the 6 other motors we are going to have (which shouldn’t be an issue once one is working) as well as soldering once the whole electrical hardware has been completed as well as our converter for the strain gauges arrive- we realized that the converter that was already ordered was an 8bit and not sufficient for the strain gauge we got from Adafruit.
Just servo code snippet:
With bluetooth (for future implementation after demo) practice code:
