Week of 4/1
- euanr723
- Apr 3
- 2 min read
I started this week off by first making one final push to finish debugging all of my code and get a proper forward and reverse system working for my motor and joystick. At first I tried doing various tests with the code. The first main issue I checked for was if the logic controlling the motor drivers was working correctly, which at first was slightly inaccurate and I needed to make a few adjustments. After fixing this I next moved to trying to test a basic script to see if the problem may have been with the motor driver. After this I realized that Pin 6 was not sending the adequate voltage to power the motor when it was moving in the opposite direction. After realizing this I first thought that this may have been a faulty motor driver, however after testing it with Mr. Christy on the power bus it turned out to be working fine.
This then prompted me to check the other parts of hardware for any faulty parts when I finally found that the pin controlling PWM had been accidentally plugged into the opposite pin on the motor driver. After figuring out this issue I made a few final tweaks with the code, and the motor now works perfectly with the code that I created. After this was complete I spent Thursday looking for different methods of creating a steering system for the project. At first I looked into trying to code a way for the motors on either side to reverse directions while still moving forward, however after doing some test I realized that this is only possible if the rover is completely stationary. After looking at various guides online and ways others built similar projects, I decided that using a servo-motor would be the best alternative. The main idea would be that the X positions of the joy stick would either orient the servo left or right, and once attaching it to the wheels on the rover, would allow me to move it freely without needing it to stop.
final forward/backward code:
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