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Re: How far are you?
We sort of drove today. We went under the low bar and over four defenses. I didn't realize until I got home that we did not drive over the ramparts, but we did go over a pre-tottered cheval de frise. The only place where we could tortuga ourselves was on the moat when we did it light (and with a CoG that was practically over the middle wheel). When we ran with a behind-center CoG, we didn't find a situation we couldn't drive out of, even from a dead stop. It looks like being underweight will pay off in that we will have plenty of margin for ballast.
We also tested the ball pickup (off-robot) against our wooden portcullis, and that worked. Assuming we get our pneumatic cylinders, we should have everything mechanical functioning by next Saturday, when we plan to bag.
Edit: I checked "next weekend". We'll be programming and practicing driving and tweaking on the second robot until the season's over.
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