• aditya mehrotra.

chip updates: securing devices for the future [updates]

So I realized why I'm being lazy, which is always good. I don't want to do any coding right now. So as I said before, in prep for the fabric arriving on Tuesday, we probably want to secure things in the interior and create some protection for certain things, so I think that's what we're going to do today. So we need to:


(1) Clean the copper fabric interior with gloves and the copper cleaner so we don't get it all oxidized again.

(2) Take some pictures of some important components, high quality pictures from the SLR camera.

(3) Secure and protect any components not secured or protected (antennas and etc).


So let's make that the day plan!


STEP ONE: Clean the copper fabric


So we didn't exactly follow all the instructions when installing the copper fabric, we did touch it with our hands which caused some small black spots to appear. So we went on amazon and got this tarnish remover.



We simply spray it on a cloth, wear some gloves, do it outside, wipe once, then wipe again with water and hey, a lot of it actually goes away!



It isn't perfect but it's a lot cleaner than before so what we're going to do is leave this outside to let it kinda sit and chill for a bit in case we missed any spots when wiping it clean, let the thing evaporate and etc, come back when its dry and move onto step 2.

STEP TWO: checking wiring/sensor systems test.


So if we're going to be mostly closing this thing up, we need to check a few things. First, we need to make sure all the components are secured, plugged in, there's nothing else we need to add/access in the interior and so on. We will have the ability to open up chip afterwards but we want to ensure things are as good s they can be so we don't have to if possible.



Fold the high-gain 915mhz antennas flat (these are for the telemetry from the arduipilot directly that gives the operator platform information).



Ensure the screw connections to the battery contractor and everywhere else are plugged in and secured, these power connections are essential we want no shorts.



Fold down the low-gain WiFi antennas, these antennas are for things like WiFi ssh and data transfer from the camera/etc to a laptop and all that.



Visually inspect the Jetson TX1, make sure everything is running on that. Everything is plugged in and etc.



Make sure the battery wires/power wires are all correct and are the right lengths/etc.



Make sure everything is plugged into the ArduPilot.


We just ran a system test of the Jetson TX1, the ROS system, the bluetooth communications and etc, so the next step is to run a test of the 915mhz telemetry and GPS lock and etc.



So we take the telemetry box with the radio and plug it into the computer, turn on the robot and open Q-GroundControl. So we can see when we turn the robot on the telemetry radios immediately connect and the system says disarmed, and we can see GPS data which is exactly what we expected.



I just want to zoom in and check things like orientation and GPS accuracy.



So if we zoom in the GPS accuracy is very good, that is where I've put the robot, the orientation is like very off, but I think that has to do with the lack of compass calibration. That is something we can fix when the craft is or is not wrapped. I think because of that though there is one other thing we want to put inside the platform before it gets wrapped, and it's a USB cable to the Ardupilot for debugging. We won't connect the USB to anything but to have it plugged into the Ardupilot will be good because then we don't need to fumble inside a dark compartment filled with foam. So we attached that.


After we let this thing dry we're now going to go onto STEP THREE which is actually protecting all the components, and adding foam padding and etc, before the fabric shows up on Tuesday.

STEP THREE: protecting the un-protected components


We also need to protect some of the components in case the robot falls over/etc. So that whole top area we show in the photo with the antennas, and the Jetson TX1, and the RIO and etc. That should be covered with some sort of foam so if the robot flips none of that stuff gets damaged too badly.


Okay so first we get this sound/absorbent/protection foam and we cut it into a large square for the main body, and a small square of misc other components.



Next what we do is tape the large square over the main center console hiding most of those electronics and the antenna, while also allowing the USBs to come through (ardupilot and the REV Robotics USBs). We can see the RoboRIO ethernet as well.



Now we cover the rest of the RIO with a small square of foam and let it droop, the fabric will tighten it in place/cover it nicely. The camera stays uncovered because it will become part of the outer skin and so will the GPS.



Next we cover the rear power area, with of course the notable exception of the RED power switch as that will also, be poking through the outer fabric skin. The antenna is scaring me a little but I think I'll leave it or cover it with something, it seems like it'll be okay?



Here's a final 3/4 view of all the foam covering all parts of the craft. Again, we only covered the top because that's where the sensitive electrics are, this will allow us to pull the fabric tightly around the robot.



Last thing, cut a hole for the power button to the Jetson, it won't poke through the fabric but we'll need to know where it is. Still trying to figure out a clever solution for this one (we'll get there).



And voila, chip is ready for fabric! So the only thing left now is I'm going to turn on the robot and test my SSH connection to it as well as the bluetooth. Just re-test the ROS stuff and wifi works with the folded antennas and through the foam (of course it should, but we like to verify).


OK so bluetooth is connected, let's try SSH: that works!



As we can see that's the SSH and the ROS stuff up and running the controller seems all good!



And that's him in his little zero position! Woo so our modifications haven't ruined everything. Absolutely everything is completely operational at the moment (meh don't ruin it)!


So there's only a few things left to decide before that fabric shows up. (1) Actually, are we keeping the black wire casings inside or outside the fabric and I'm thinking outside for now because I don't want to have to rip it all open and pull them out if they're getting tangled. (2) if there are any other mechanical fixes we need to do before we close the whole thing up. I know this fabric thing will be open-able but I don't really want to be taking apart gearboxes after this coming Tuesday. I think we're going to open up the back right shoulder and fix that up a bit I heard a sad sound from it this morning, it squeaked. We'll open it up, oil it, tighten it all up and it should be good to go. So let's do that now.


So for gearbox fixing what works best:

(1) remove box

(2) open box

(3) tighten everything even more

(4) oil everything

(5) put back together.


Yes so this is the leg disassembled and we put it back together all shiny and new again. All the gearboxes should be set to be covered!!!


#omgrobots #updates #chip #yay #getting_closer

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