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Re: TOP HEAVY!!!!
Now that I have some more time...
We saw in testing our robot a two nights ago that we have a similar (although not as extreme) issue - we can pop a wheelie transitioning from fill reverse to full forward. Essentially, we have too much weight in the back of the robot, and not enough in the front. We did a pretty good job of managing the height of our CG, though, so we don't actually tip over!
We weighed the robot by putting on end on blocks, and the other on a scale (may not be 100% accurate, but close enough) - we found the back weighed about 65lbs, and the front about 30lbs. We have a little more weight to add still (light weight panels, some small modifications as we see things aren't working correctly, and our bridge manipulator), but we should be able to add some nice steel plates to the front somewhere to help balance out the CG.
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