Motor Test Station (MTS)

Mark was right, torque of 0.00071Nm was good enough for (to me) impressive 9.89m/s or 35.6km/h in motor test station, but may not be enough for autonomous robot (I just ordered 2 motors with 0.0055Nm, a factor of 7.7).

Yesterday I did quite some work on real autonomous robot, these are the tops of two linked tweet sequences:

This is new robot jacked for initial wiring testing with bitlash (allows interactive as well as scripted programming w/o Arduino IDE):

I did first full speed test run last night:

Compared to Asuro robot 8 years ago (0.43m/s, 1.2m/s, 1.8m/s) it was quick (3.1m/s or 11.16km/h).
But previous runs (same motors and wheels) in Motor Test Station showed 9.89m/s.

Copying in youtube description with the details:

This is first autonomous full speed run of new Arduino robot (3.1m/s or 11.16km/h).

Weight of robot is 96g, and the three LiPos were not fully loaded, but showed 11.41V, the motor is 12V motor.

Although pin 13 LED starts to blink when reaching leg of grand piano (indicating that motor has stopped) the kitchen door did a hard stop on the robot.

Rowvid.com analysis (7.95s-8.55s) shows that robot did pass 6 floor tiles with edge length 31cm. The speed in that time frame was therefore 1.86/0.6=3.1m/s or 11.16km/h.

This is far less than the 9.89m/s seen in motor test station (robot there had 73g weight with same motors and wheels, but no ground friction of half table tennis ball). For details see:

Hermann.