[Don Wright]

Originally Posted by Pat Fairbank

Four wheel modules, each containing one CIM, four gears, an encoder, and a 4" by 2" wide IFI traction wheel. The gear ratio is 9.33:1. IIRC, the weight of each module is about 8-9 lbs.

Steering is accomplished with a couple of Globe motors at a 2:1 reduction - the left and right side pairs each turn as a unit, with feedback provided by a pair of absolute encoders (a thank-you goes to Tristan Lall for pointing these out). We're driving it using a Logitech 3D joystick connected via USB Chicklet.

Somewhere along the way we misunderestimated our weight, so we're currently sitting at 105 lbs (we'll be adding 15 lbs of ballast at our first regional).

It looks great. Looking forward to seeing it at GLR!