Wiring Cleanup + Stress Test Bug (the last devlog)
Only 1.5 hours logged today but honestly it felt like an eternity trying to make this thing actually usable and not just a ticking time bomb of loose jumper wires lol
Ditching the breadboard
First thing I did was try to make the ultrasonic sensor voltage divider permanent. I literally spent like 45 mins just trying to solder two tiny SMD resistors directly inline with the jumper wires cuz I didn’t want a bulky perfboard hanging off my robot. Trying to heat shrink those tiny connections without melting the actual wires was a literal nightmare bruh. My hands were shaking so bad but it looks so much cleaner now.
Also spent a bunch of time crimping and soldering proper JST connectors for the battery and the 12V DC motors. My fingers are actually numb from dealing with those tiny metal crimps, but hey no more sketchy alligator clips accidentally shorting stuff out!!
The Stress Test (AHHHHH)
Since everything was finally hardwired and looked legit, I decided to run a full system stress test. Wrote a micropython script to run the I2C screen, poll the ultrasonic sensor, sweep the servo, AND blast the DC motors at max speed all at the exact same time.
And guess what happened??? The ultrasonic sensor immediately started spitting out completely garbage numbers again. Like it said my hand was 400cm away when it was literally right in front of the sensors. WTH???
I stared at the serial monitor for like 20 minutes before I realized it was electrical noise from the motors messing with the sensor’s echo pin. Literally the DC motors were just screaming and sending EMI interference everywhere through the board.
Took me another 20 mins to fix it by tightly twisting the motor wires together to cancel the noise and slapping a tiny ceramic capacitor across the motor terminals. Tested it again and BINGO it works flawlessly even at max throttle!
Getting everything to actually play nice together under full load is acc so frustrating but the hardware is FINALLY rock solid. We are officially ready to mount this onto a chassis!!! LETS GOOOO
Btw I also recorded this video to show how many times I failed on making rukus lol
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