Creeper Build

The Build

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I went with a Rock Crawler rather than Monster Truck as it has rear steering and, lets face it, the autonomous aspects of running over rough terrain are a problem so plenty of fun there.

I have a Beaglebone Black for the main mission computer for this autonomous Rover.  I have played a little with Go and Erlang on the board – I do like Erlang a lot.  I did promised to try to port MOOS-IVP as well so that it still on cards.

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For the autopilot component I will be using a AIO.

AIO

 

Why? Well can run ArduRover and since it is for terrain then 9DOF setup makes sense.

I have a second phone mount to take my Samsung S2 (same as on my indoor test bed).

Cyclops!

Cyclops!

Day 1

With Telstra down over Christmas I decided it time I start assembling the rock crawler I am going to build up into an outdoor autonomous rover.

I bought the final bits and pieces, a 6oT brushed motor and ESC, two servos to give front and rear steering modes, etc. so everything is actually on hand for the build.

I got to step 5 and then it feel apart on step 6.  The mounting of the motor mount plate failed as the VEN-8317 (so called) screws wouldn’t bite – the holes in the gearbox for them slightly too small.  So one screw jammed and the 1.5mm hex key stripped the hex hole in the head.

One hour into build and I have to order new screws off the internet.

This more or less firms up my option to buy the auto-diff-lock kit for it.  I will also buy up a swag of spare screws.

Day 2

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The problem with be build turned out to be me being cheap.  The problem, Alan keys are crap as the screws need work to fit the tight plastic holes.  It is no trouble to strip the head of the 1.5mm screws with an Alan key.

The four blue anodized key key drivers replace the cheap Alan keys I was using for 1.5mm, 2mm and 2.5mm.  The gold 0.05″ hex driver was what turned me off buying drivers as it cost me $25.  The blue hex drivers cost $27 for the set so that was 4 for 1 deal!

PS, that tray setup is brilliant.  All the sections come apart (you can actually add trays together to get a bigger expanse).  Each door is spring loaded and pops open by a catch.  Only a couple of dollars and holds those pesky loose bits that you will always lose.

Day 3

Coming soon.

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