We plugged the 2 pin jumper wires into the
GND
and
5V
pins on the
switches and stuck some long pin headers through the switch contacts on
the trigger PCB, so the switches could both plug in in parallel, one from
above, the other from beneath.
We gave it a quick test on the bench. Each time a whicker switch closed,
the motor drove the other way. The
A
,
B
, and
T
adjustments each had
the desired effect.
Mechanical Integration
With the electronics working, we put them on the chassis.
The chassis itself consists of a platform with a couple of protruding M6
machine screws. The axles are mounted to the screws with wingnuts.
The drive mechanism for the cart is a simple slip clutch. We fashioned a
double-width rubber wheel onto the servo using Actobotics 2" wheels and a
pair of servo hubs. The motor was mounted to a B-type servo bracket,
which was connected to the end of a 4.5" channel. The bracket was free to
pivot in the end of the channel.
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