Octanis Rover Drive Tests

Todo:

• Check GPS_RAW_INT message for correctness.
• Check correct survey in.
• Send waypoints.
• Check arm/disarm (via ethernet). Recording script on olimex must be running (and acknowledge the arm command).
• Check navigation (are waypoints reached) - use ethernet, not lora (disabled).

Observations:

• Slipping >20° with peak 4.9A at 3.3V
• Max speed 6.25cm/s
• Radius at 80/100%: 4.25m
• 20° feasible, above 23° total slip on wet snow
• FBS Battery open circuit at the end of test (solar was connected): 3.99V 0C
• Test duration: 11:30 - 15:30
• Base station is fully charged, weather was mostly cloudy with intermittent sun
• shutdown script on rover runs in wrong ENV
• All struts locked results in worse performance than if one side is unlocked from the body
• Bad packing of rover

• Objective: Recharge while driving. Mitigate resets. Tune PID.

• Continuous driving test at EPFL campus starting 20:22 and ending 23:20.
• Free drive until reset:
  • 21:00 - 21:15
  • 21:15 - 21:24
  • 21:24 - 21:28
  • 21:28 - 21:45
  • 21:45 - 21:47
  • 21:48 - 21:51
  • 21:51 - 21:52
  • 21:52 - 22:15
  • 22:15 - 22:24
  • 22:24 - 22:28
  • 22:28 - 22:30
  • 22:30 - 22:57
  • 22:57 - 23:08
• Wheel Hub detached from M4 at 23:05 due to vibrational loosening of the set screw. This will be resolved with a bit of Loctite.
• Photos here.
• gsm_packets_drivetest_6may16.zip
• 
• ~2m turning radius was measured
• 218m/h speed was measured
• battery voltage (at room temperature, no load):
  • beginning: 4.08 V
  • end: 3.66 V
• battery voltage (at outdoor temperature (10°C), under driving load)
  • beginning: 3.67 V (ADC 8-bit value: 156)
  • end: 2.90 V (ADC 8-bit value: 46) –> note that this voltage is below the pre-programmed 20% battery charge level (threshold = 2.95 V (ADC_val = 52)), at which the 11V motor supply voltage is turned off)