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Nov 16, 2017, 01:17 AM
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Noise & steering

After another 25 miles of listening to transmission noise, the decision was made to tear it down again & relube it. The counter gear was the only dry gear. Drilled holes to make it easier to relube without tearing it down. The mane problem is plugging the holes.

The 2nd 25 miler burned 4036mAh + 4605mAh or 345mAh/mile. It was much lower because the speed was increased to 10:30/mile. The motor got more efficient when it got faster. The lion also got more efficient, burning only 1 Clif Blok instead of 2.

The next problem is steering deadband. A lot of play from the servo saver makes it drive erratically. That was a buster to jockey for 5 hours. The servo needs to kick it when it reverses direction or it needs knowledge of the rod position.

There's increasing P gain & adding extra offset to I when the steering reverses direction. Steering constantly reverses direction by 1. Finding the minimum amount of reversal to be considered a real reversal would be tricky.
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