#import "/packages.typ": notebookinator
#import notebookinator: *
#import themes.radial.components: *

#show: create-body-entry.with(
  title: "Build: Drivetrain Fixes",
  type: "build",
  date: datetime(year: 2023, month: 8, day: 5),
  author: "<NAME>",
  witness: "Violet Ridge",
)

After testing our drivetrain and discovering several issues with it, we began to
fix them.

#grid(
  columns: (1fr, 2fr),
  gutter: 20pt,
  [
    The first issue we fixed was structural. We noticed that the spacers used as
    boxing for the C-channel were not snug, and were able to spin freely. This meant
    that they weren't taking load, and were effectively useless. We fixed this by
    finding the correct spacer configuration, which was added up to 0.875". We then
    replaced the existing spacers with white nylon ones.
  ],
  image("../assets/drivetrain/boxing.jpg"),
)

#grid(
  columns: (2fr, 1fr),
  gutter: 20pt,
  image("../assets/drivetrain/new-bracing.jpg"),
  [

    The second issue was also structural. The ends of the C-Channel on our
    drivetrain were only held together by a 1.5" standoff and a 0.375" nylon spacer.
    We decided to double this in order to increase the squareness of the drive.],
)

#grid(
  columns: (1fr, 2fr),
  gutter: 20pt,
  [
    The third issue had to do with the motor inserts coming out while driving. Our
    old configuration involved just a single motor insert, but the space between the
    motor cartridge and the C-channel is too large, and therefore allows the insert
    to come out, disengaging the motor from the axle.

    We solved this problem by adding an extra 1/16" spacer between the insert and
    the C-channel, and that solved the issue.
  ],
  image("../assets/drivetrain/motor-spacing-fix.svg"),
)

#grid(
  columns: (1fr, 2fr),
  gutter: 20pt,
  [
    We then addressed the issue of how difficult it was to control the drivetrain.
    We decided to substitute the omni wheels in the middle of the drivetrain with
    traction wheels in order to stop us from drifting.
  ],
  image("../assets/drivetrain/build-log/traction-wheel.jpg"),
)

#grid(
  columns: (1fr, 2fr),
  gutter: 20pt,
  [
    The next issue had to do with the friction on the drivetrain. During testing we
    noticed that both sides of the drivetrain were drawing much more than the
    recommended 1W of power. We combed over the drivetrain looking for places where
    friction could be an issue and made the following changes:
    - Reduced spacing on some axles
    - Straightened motor mounts
    - Corrected axle length

    The most egregious issue we found was a piece of C-channel that a motor was
    mounted to. It's holes had been worn away, and were no longer square. This
    caused the motor that was mounted to it to not be straight.
  ],
  image("../assets/drivetrain/build-log/holes.png"),
)

// TODO:
// - discuss power draw fixes
// - discuss friction fixes
// - traction wheels
