The POD and ROAMER have achieved basic functionality, with some adjustments still to be made.
Circuits have been in their final state since 5/23, with a final decision to implement an H-bridge in the gripper circuit to allow additional current to flow for greater grip strength.
Software is largely finished with some minor tweaks to be made. There are still occasional problems upon connection with the ROAMER: the POD does not always register a connection immediately, and the connection occasionally breaks. These issues were largely mitigated, however, in the last couple of days, and additional fixes targeting unwanted incoming signals will be implemented as well. A major bug involving the POD software getting stuck in a while loop during the AD conversion sequence was fixed, eliminating most of the break-mid-connection problems. Connection LED and ROAMER select input will be implemented in the next day or two.
The POD mechanical structure is in its final form. The ROAMER has been built, and minor adjustments outlined after initial testing remain: the ROAMER does not drive well on the carpet, has trouble going up hills, has trouble with fine gripper movements, and fails to drag the box over the door threshold because the gripper height is limited. Fixes will be designed and implemented in the next two days.
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