In the last post in this series, I conducted a fit test on the new chassis. After my ignominious belly-flop, I now had a more urgent need to complete the switch.
A busted robot
An even bigger close-up
The chassis cracked in the corner, completely separating. Doing anything more with this chassis was likely to result in many more things breaking very quickly.
So, here are the photos as I put everything together.
When I was trying my first pronking, I kept having over-voltage issues when the servos were trying to dump power back onto the DC bus, no matter how high I set the voltage limit. During that test, I was running with a nearly full battery, so my working theory is that the battery protection circuit was disconnecting the battery either because of too high a charging current, or too high a system voltage. When the battery was disconnected, and the servos were still putting power onto the bus, that resulted in the voltage spiking arbitrarily high, followed by a total loss of power when they all faulted and then nothing was powering the bus at all.
Now that I can do controlled jumps, and have a UI which allows me to use the joystick, I finally started actually working towards pronking gaits. Too bad for you, this post doesn’t have any details, merely a video snapshot of my learning and debugging process…
