vadl/agse

Autonomous Ground Support Equipment (AGSE) robot for the Vanderbilt Aerospace Design Lab (VADL)

agse's Issues

Motor Control Board Motor terminal labelling is backwards.

H-Bridge MOSFETs can short to each other and fry

They should be rearranged and add some other insulation or mounting solution to prevent this from happening.

Voltage and current draw from batteries

We need a 2x16 LCD Module + associated circuitry at the power supply OUT to indicate the AGSE net current and voltage draw from the batteries. This will be a good runtime measurement unit to quantify the AGSE performance during operation.

Hosts in the AGSE cluster should have NTP installed and be running a local NTP server.

Make new version of AGSE software in ROSMOD V1.0.0 which is entirely based on pub/sub

Update the FS images on the BBBs and the Jetson

They are now a few years out of date and should be updated to the same image the cluster runs. When doing this we should ensure that the Jetson's libraries (esp. boost) are the same version as the BBBs so that binaries work across both systems.

Vertical carriage rods are misaligned

This becomes an issue when driving the carriage towards the top plate; the motor even with a bench-top power supply cannot reach the top without going from 0.6A to > 2.0A during the last 2 inches or so.

BBB GPIO input configuration doesn't work

Can't read limit switch inputs, they actually output to the circuit somehow.

Motor Control Board Rev B limit switch pins prevent booting

Pins P8_41 and P8_44 on the Motor Control Board (-RADIUS_LS and +HEIGHT_LS, respectively) prevent the BBB from booting. Cutting the relevant traces to those pins solves the boot issue, but prevents the reading of those limit switches. Have tested some Device Tre Overlays to circumvent the isuse without any luck.

The signals need to be moved to new pins or a usable boot/board configuration must be found.