Six wheel drive, four wheel steering robot inspired by NASA's Mars rovers
Started with the frame. Mainly aluminium extrusion, with connectors, axles etc machined.
Now for the wheels. Got cheapo worm-drive DC motors online. Have encoders at least.
Wiring. Oh my god, the wiring....
Steering. Tried belts first, couldn't get them tight enough so switched to gears
Motor drivers. Tried eBay controllers, too big, so built my own. See "MiniMill" for that particular rabbit-hole. Raspberry Pico for motion control.
Mast and head mount microphone array, depth camera with yaw and pitch control
Add the brains - Raspberry Pi 4, Nvidia Jetson Nano. Adapter to run the servos.
Software side. Still trying to debug motion control firmware.
Construction more or less complete, for now at least
Plenty of work on the software side left to do. Motion control firmware needs debugged and calibration system added. Video feeds via Jetson Nano very laggy. Not even tried to get the microphone array working yet. Got a bit distracted by Skuttle and Squirt....
