Wall sensors first run, torque problems?

Wall sensor switches have been programmed!

Good news: with the drive wheels spinning freely (elevated), the wheels respond correctly to all the switch combinations we need.

Bad news: The wheels sometimes don't spin at low PWMs (< 25), even when elevated. Not enough torque? I transferred the setup onto the mock-up cart and let the bot run off the battery. At shallow angles the bot stops at the wall instead of pushing itself around... the wheels either stall or spin without traction. (clip below, be warned about the Blair Witch quality) Can't wait for those omniwheels so we can do some legit testing. Until then, possible other fixes: trying different drive algorithms, higher PWMs, maybe more rollers around the bot edges, also the cardboard is a little uneven, so building a more solid platform?



Also bought some 5V voltage regulators, 1/4'' spider couplings, and a clear plastic compartment box to put all those little pieces in so they don't get lost.

Still need to put in a voltage regulator for the switches. Giving the C32 a 9 V supply is fine due to its own voltage regulator, but feeding 9 V into the C32 *inputs* is NOT GOOD for the chip.

Best news of the day: we now have a MINI FRIDGE! And lots of snacks.

Wall sensor ports:
M5 - Left front
M4 - Right front
M3 - Right corner
M2 - Right back

Locomotion ports:
T7 - Left motor dir
T6 - Right motor dir
T1 - Left motor PWM
T0 - Right motor PWM