Thank You for Calling Big Chuck’s Lawn and Landscaping: Introducing Crabmower

This website is now a van.

In my circles, “being a van” refers to something which needs constant upkeep and repair before it can be useful. If you have a certain arcane procedure and checklist for booting something up, or a very prescribed set of operating conditions and limitations, then you have a van. Vans do not have to be van shaped to be considered vans, as the state of van is a radically inclusive and individualistic phenomenon. Mikuvan was, for the longest time, a van. It’s still a van, just less in the van sense. Get it!?

Running on an installation of WordPress now over 10 years old that’s no longer supported and full of security holes, with plenty of my custom-hacked PHP and CSS dating back to 2007, and all plopped on a hosting which Godaddy has called me plenty of times about calling it “Legacy”…. this website is a van. You in fact might have noticed it, in fact. There’s a little annoying spambot that occasionally hijacks and redirects search engine referrals and tries to sell you dick pills on my behalf. I pry this thing off the PHP directories every once in a while, like an advertisement-laden barnacle. It doesn’t affect the site within itself, only search results like from Google hits and the like. Well it turns out everyone just searches ‘charles guan site’ because this site’s name is impossible to spell for normal people!

Anyways, that Van Factor along with my summer mechanical misappropriations is why this site’s been so dead lately. There is plenty of content, I just don’t want to keep updating it and maintaining it, so I walked for a while. But now I figure I’d get in a few more posts, download the database and file structure, then nuke the whole thing from orbit and try again with a modern CMS or something. We’ll see when I actually devote the mental energy and time to Internets again.

I’ve said it often before in various contexts including here, that modern social media just makes it too easy to share stuff to a big audience and so the extra effort of maintaining a static website presence is less rewarding. I’m no social butterfly, but Instagram has certainly made it easy to puke photos onto the Internet. As I am mainly a visual storyteller anyhow, I adopted it more in earnest this year. For the latest candid and disorganized photos, look here at my Instagram page @fakecharlesguan first. This is a deliberate choice in username, as if I get famous enough and someone tries to make a fake me page, they will have to necessarily use @officialcharlesguan or something similar, adding to the confusion and hilarity. Be prepared for many cats and electrical atrocities.

Obviously, a lot of the new not-seen-here content will eventually make it here in a static format, such as the series of posts I want to write called The Summer of Ven. You can guess what that might entail.

Anyways, let’s get back to the #RobotTrapHouse. You know what it has? A lawn. You know what lawns do? They grow, and while I’m technically under no obligation to perform lawn maintenance in my lease, I also don’t want to That Guy too much just yet for the neighborhood. For a few months into the spring and summer, I decided that I was done trimming grass in high school, so I paid for it As A Service. Then I decided that the yard isn’t really that big and maybe this was a chance to get another horrible machine of some kind to tear apart or improve.

I actually was looking first at a current-gen brushless self-propelled electric lawn mower such as the Harbor Freight Special. It was more about the curiosity of what kind of value engineering went into such a power system, in the same vein as my dissections of serial killer equipment. It got to the point where I actually went to Harbor Freight to inspect the goods in person, drawing up plans for using the dual rear drive wheels to make it autonomous. I kept an eye on Facebook Marketplace and Craigslist for used ones – that was my first mistake – but it seems like they’re a bit too new to begin circulating on the informal economy cruft cloud.

Then one morning, I saw this thing.

 

What in the hell? It looked like a walk-behind commercial mower at first, but other photos showed it had a seat. What the absolute, interminable fuck is with that drive belt? The “My granpappy left it to me” quip in the ad made me wonder if it was homemade by Granpappy himself, or so far cut up from a production model that it’s basically the same.

I obviously had to offer the insultingly low price of $200 – figuring it’ll get declined but I was out to spend $200 or so on something anyway. That was my second mistake.

Well, it’s the following Saturday, and my third and final mistake was complete: Renting the trailer.

 

Luckily, this thing was only about 15 minutes away by van. It was exactly as described: Covered in rat shit and lawn detritus, all tires flat, and with random parts everywhere. After looking it over, I decided… why the hell not. Worst case I attach two Overhaul motors to the drive wheels and make it remote controlled.

Vantruck carries my “yard wreckage recovery kit”, so I just busted out the tire filler and proceeded to fill up the drive tires. Sadly, the steer tire was completely destroyed and would not fill.

So the seller towed it out of the building with his truck and helped shove it into mine, which was a fair ways away since I couldn’t get right up to it and turn around.

 

By the time this process was done, the rear wheel was definitely quite sad. Look at those rear forks and bracket it rests against – that’s solid 1/2″ and 5/8″ thick steel bar!

We’ve returned to the #RobotTrapHouse now with my absolutely HOA-terrorizing long unkempt grass. I decided that since it was still bright and early (for me… so, 3PM) and with the summer yielding plenty of sunlight, I’d try to get it running and drive it into the yard for more work and repair later.

(Note: This area doesn’t have an HOA, but again, everyone else does keep their yard nice and clean so I might as well give a superficial attempt)

First order of business was taking the rear wheel off. A nearby tire shop had a selection of lawn tires also, so I asked for them to put on a replacement. I’m used to non-automotive tires being split rims that use inner tubes, but it seems this thing is Pro enough that it actually uses one-piece tubeless wheels, so I couldn’t pry it off myself. Fancy!

As I worked on it, of course, I started doing research on what on earth it was I actually bought. Why didn’t I do this beforehand, you say… well what’s the fun in that?

So this thing is a Yazoo Master Mower, built by the Yazoo Manufacturing company out of Mississippi. Yazoo has now reached semantic saturation for you and just sounds funny. Yazoo.

It seems to be good ol’ redneck ingenuity sent straight to production, which was exciting. The company appears to have made some legendarily durable/serviceable commercial and consumer lawn equipment into the 80s when they merged with another company, and the bloodline today lives on in Husqvarna lawn and garden equipment.

Judging by how many “THIS PRODUCT IS UNSAFE” stickers are on it, it’s right in line with my interests! This is how all products should be made, by the way. The goobermint can set safety bars, but you should be able to voluntarily not abide by them. If I then buy your brightly labeled unsafe product because I think it’s cool, then that’s kind of on me, no?

 

Look at this wild drive belt. Just look at it.

The major innovative feature of this transmission, apparently fully built in-house, is that it contains a set of double clutches with reversing gears. One lever will flip it between forward and reverse not by crashing gears together, but just by engaging the clutches. The rear wheel steered like a forklift and allowed a near-zero turn radius. I know nothing about the lawn care industry at all, mind you, just that this is dope. The only thing they couldn’t do with this transaxle, it seems, was make it take a sideways input shaft. Instead, we have Pretzelbelt here.

Here’s why I like maintaining a real website. I discovered someone else has a website about servicing and modifying this incredibly obscure, niche piece of equipment that I bought without much planning. I get e-mails all the time from people who bought some obscure, niche piece of equipment and then it turns out I dissected it or fixed it up on this very website, whether that’s random scooter motors or the Ryobi chainsaw or even up to the giant Surplus Center gearmotor. I have apparently sold people on getting their own piles of Chinesium because they read about it on this website.  At least one person got a Mitsubishi van project because of all the posts about Mikuvan showing its ins and outs.

This is the kind of thing that is very hard to do with contemporary social media which is very focused on The Now and not The Later. Even Youtube videos are hard to search through since you have to remember what video title contained what content, at what time, and if the user account got hard-canceled by Twitter or not.

Interestingly enough, while looking it over harder, I found a very faded decal from a local lawn equipment service company. They’re not far away, and are still in business. It was very tempting to tow the thing right then up to their door and make it their problem again.


It was getting late in the day now, and I couldn’t get the thing to really stay running. It would happily run if I fed it a steady trip of starting fluid (ether), and did independently run once for a short time. It seemed like it was having fueling issues – fuel was getting to the (oh no) carburetor, but  seemingly not making it out. I figured it was just full of grunge from sitting in Granpappy’s shop forever.

Either way, it was getting later in the day now and I had to return the trailer, and I hate carburetors. I decided to just drop it off in the covered carport for later perusal.

Off the trailer it goes! I just pushed it to the edge of the ramp and let gravity do the heavy dropping. There was enough drag with it in gear and with all of the small idler wheels that it took some more pushing to even get it all the way off the ramp.

This is a carburetor. I hate it.

I was about to see if anyone made retrofit fuel injection systems for tiny engines as I took it apart. Anyways, fuel comes in the top left hose, some magic unicorn thing happens, and it exits in the airflow stream of the intake. The big lever on the horizontal runner is the manual choke, and the little stepped lever behind and under the whole assembly is the engine speed governor, which I learned pulls against your speed setting cable as the engine speeds up and therefore closes the throttle slightly to keep the engine speed steady. The uppermost twirly-gig with the adjustment screw is actually the throttle flap itself.

I began removing screws and separating the components. I couldn’t blow through the fuel inlet, so something’s just not passing…. gas

It took a while of friend consulting and fiddling for me to figure out what was going on. For one reason or another, the carburetor float (the brass soldered donut, which is hollow) and the needle valve it actuates was either out of position, incorrectly reassembled by someone, or was bent out of shape, because in what should have been a fully empty position it was barely letting me blow through the needle valve. Only if I let it hang down to a physically impossible position if assembled was it freely flowing.

Obviously this is going to mean almost no fuel enters the float bowl. I otherwise couldn’t find any “gunk” from it sitting.

I had to bend down the Lever of Needle Valve Actuation a fair bit to achieve a state where it would admit fuel in a physically plausible location.

 

Well it’s all put back together now, everything’s lubed up and resealed and freely working, so let’s just turn the key and see what happens.

And there we have it. I moved the vans far out of the way so I could practice driving a bit. This thing is weird. First, I’m not used to driving a lawn mower/tractor where you set a speed and aren’t really manipulating the throttle all the time. You really do drive it with the forward/reverse clutch lever, and it will reverse hard enough to throw me off the seat. What else throws you off the seat? Doing a hard zero point turn by swinging the rear-steer all the way! Everything you do seems to be ejecting yourself. No wonder they said it’s unsafe!

But fun? Very.

Now with it running and driving, it was time to make some other facility improvements before seeing if it’s good at its One Job.

First of all, like every other thing I’ve bought nth-hand, the wiring is atrocious. I repaired the positive side by cleaning up a lot of the corroded terminals and lugs, and ran a new ground wire to the battery because the existing one was just completely hopeless. It started far more enthusiastically afterwards. There’s not much wiring on this thing save for the starter/dynamo circuit and the ignition circuit.

 

The deck seemed to run fine, so I decided to just untangle and clean it out. While doing so, I pulled out this old ‘murican flag, covered in plant grunge and reeking of rat urine.

Guys. It emitted an American flag at me.

This is how I’m making America great again.

Notice the deck is lifted up by a jack here. I elevated it further with a chunk of 4×4 wood (leftover from workbench construction) so I could get under and inspect the blades and spindles. I couldn’t back off the spindle nuts to put new blades on, so for now, I did an in-place sharpen using an angle grinder.

The two large springs in the front counterbalance the deck and allow you to use a lever on the side to raise it slightly. With one spring broken, lifting the deck was kind of hopeless at my scale of force input. I’m sure a burly 300 pound gardener could do it just fine still, but I ordered replacement springs from McMaster the day before. They’re a bit weaker than needed, since it still takes some serious lunging effort to throw the lever, but at least now it’s plausible.

…and its first cut, one week after the purchase.

Okay, I’m not even. Even what? I dunno. Not mad, not glad, not sad, just d a d.

It’s been clean over a decade since I’ve cut any kind of grass, and I must say this …. device made very short work of it. And this was with crudely angle-ground blades in a position I could barely see what I was grinding!

It was hard to track straight since the forklift wheel had a lot of slop in it. relative to the steering wheel, even after I tightened the connecting #40 chain between them beforehand. Inspection revealed either a mostly stripped keyway or broken weld, so I’ll have to take it apart some day and bang it back together. Once I got going pointed in a direction, it was fine, but the corrections needed every U-turn needed getting used to. The top speed isn’t much more than a brisk walk, which is just fine by me, as I am not yet trying to race someone else’s lawn mower.

So afterwards, I gave it a good wash and blasted all the remaining grass grunge off the rider deck. I think I’m going to get a racing seat for this thing, as it absolutely needs bolstering. I’m not sure if you were supposed to anchor yourself from being obese or throw a ratchet strap on yourself or what, but the hardest part by far was just staying on the damn thing.

As a finishing touch, I was informed by a friend who used to be an actual lawn professional that the two mysterious forks in the front were for a roller to intercept obstacles. Not knowing what model roller would fit on this thing, I decided one round plastic thing was the same as any other and just 3D printed one in approximately the size and shape needed. The ridges aren’t for anything special, just adding more radial stiffness without having to make the thing solid.

And that’s it. With minimal fuss, crab-mower has done the lawn every 2 weeks. With fall and winter now approaching, I’ll probably lube and tune everything and tuck it away fairly soon. It was an interesting little distraction, a week-long dive into yet another obsolete technology. This and much more will come soon in the Summer of Ven post series!

 

Robot Ruckus at Orlando Maker Faire: How to Somewhat Scale-Model Test Your BattleBots

Hello everyone. Here’s a photo of Überclocker 5 experiencing Waffle House for the first time, alongside Earl of Bale Spear team, who makes a better “BIG CHUCK” figure than I ever will.

Let that image never fade from the collective knowledge of mankind.

Anyways, as Robot Ruckus approached, I had to figure out how to get my bots all the way to Florida. Taking a week or so to drive there and back was kind of out of my realm of possibility at the time, so I decided to run a little bit of a relay race with the HUGE team.  They’re in Connecticut , which is either a suburb of New York or Boston depending on who you talk to.

I delivered Sadbot, Clocker, a tote of spare parts, and a toolbox to them one fine Sunday afternoon. They were then going to drive everything – Huge included to Earl in New Jersey (if you recall, Earl also brought Overhaul to Battlebots in 2018!) upon which he will travel to Florida. So after the delivery, I had plenty of time to do Other Stuff before flying down to Orlando.

Upon my arrival, I obviously had to grab a rental car. I figured that I’d get the shittiest econobox possible since I wasn’t going many places, just to the event and a hotel room. Well, when I got the reservation and headed over to the rental car garage, it turns out the company was out of shitty econoboxes.

So what now, do I get a free bicycle instead? Nope. Free upgrade time! The garage handlers throw me a key fob which I assume was to the small dorky crossover nearby.

Nope, behind that:

Thanks, I hate it.

Let me be very clear: I’ve forgotten how to drive. No, not in general, but remember what I’m mentally calibrated and trained to for years: Being high up and on top of the front axle, and having a very short or nonexistent hood.  THIS WAS NEITHER. You cannot see out of these. Not out the sides, not out the back, and barely out the front.  I guess that’s the trade for prioritizing looking cool and edgy. For yours truly, stepping into any modern car requires some zen and meditation, and a constant reminder that I now have a front.

I am always terrified of automatically failing over into “van mode” while driving anything rental, and going full Unintended Acceleration into a store or dumpster or fire hydrant as I try to park 1 foot away from something.

How fast does it go? Greater than Van. I dunno man, I don’t have a good sense for How To Fast. My friends who work at GM (who had to listen to me complain about it in real-time) said it likely has the rental-car spec turbocharged 4-cylinder Ecotec engine, which may explain why I was experience what I swore was turbo lag, but more likely might be several inter-related drive feel variables like any economy modes it was stuck in.

2019 Chevrolet Camaro: Faster than a 1986 Ford Econoline.

 

Also, this interior panel fell off while I was heading back from the event at one point. It snapped back in, of course, but seriously?

The trip from the airport to my hotel was made in complete darkness, in the rain. Great. So I’m sitting 2 inches off the floor behind 8 feet of snout, unable to see anything, trying to figure out why every new car is a forsaken spaceship simulator inside, and mingling with other equally lost tourists trying to figure out their own rental cars on the fly. Through several construction zones, to boot. I guess I’m glad I went ahead and got the full-plausible-deniability add-on.

When I arrived at the event the next morning, I found Uberclocker like this.

 

Aaaaaaaaaaaaaawwwwwwwwwwwww. Earl took it in a South of the Border restaurant apparently, and they had these convenient accessories available.

 

I unloaded totes and began setting the bots and infrastructure up for safety inspections.

Sadbot

Sadbot was up first against the multibot Crash and Burn, built by Fingertech Robotics (incidentally, a Ragebridge dealer!) and which has done very well at Robogames events. They were running in kind of a reduced functionality state for this event, so it was more or less a pushing match. Sadbot is obviously a great shape to get pushed around, so it went about as expected with the exception of me getting a few good shoves in. At one point, I took a huge gouge out of the railroad tie side bumpers with the log splitter tip. It definitely did its job.

In the first 30 seconds of the match, the lifter controller popped. Uh oh!

 

It was a pre-production 12-FET brushless Rage board that I pulled out of a bucket labeled “SAD RAGEBRIDGES” and wired up. I probably deserved this.

It would appear I neglected to solder some of the pins on the MOSFET packge. Quality control! That probably popped as soon as it saw any heavy load. I replaced it with a “production model” I brought along in the pile of Equals Zero wares.

What’s more important, though, was the powertrain holding up great for that entire match of me running around and into things. The C80/100 drive motors were lukewarm, and so was the aluminum heat spreader plate in the electronics deck. And even better? I loved driving the damn thing. I mean, saying it handled like Overhaul 1 would be cheeky. Obviously from the video, I took a while to get re-engaged with bot dynamics. But afterwards, it felt like driving a big 30lber, which is my desired effect. Big wheels and conservative gearing seems to be holding up so far.

Sadbot’s next match wasn’t going to be until Sunday at this point, so I decided to take the opportunity to go to Home Depot and grab some….

…masking tape, a big wire brush, and some spraypaint.

This thing has always needed a paint job, and I wanted to paint the frame pastel purple to match the Miku blue and pink attachment aesthetics. Well what better time than now? It was a bright and only somewhat windy day outside and around 70-something degrees. I brushed off the accumulated rust and grunge on the outside and had at it. Paint+Primer, you say? I dare you.

So there you have it. Sadbot will be purple from now on.

My next match was against the other multibot, Macaroni and Cheese. The matchups are “DETERMINED RANDOMLY”, or so I am told. Maybe the random quantum computer just really likes seeing multibots get thrown around.

I went a little more hard-headed in this match with the added confidence of the previous fight, more actively chasing as well as trying to back off from engagements. I stayed to a “I weigh more than thee” strategy instead of trying to capture with the pokey dingle, and managed to drive both halves in the wall a good few times, including propping them both up by the end.

One of these power charges had the unfortunate side effect of making Sadbot somewhat droopy.

Ah well. This match was a much more aggressive one from the stick perspective. I purposefully drove like the maniac I should be driving like, to see if I could get anything to upset itself. The motors got warmer, but not concerningly warm, and I unfortunately neglected to take a controller temperature.

I asked Earl to use Farmer Force™ to straighten out the pokey dingle a little – the upside of it being slightly bent was it at least touched the floor.

 

Sadbot’s final matchup was against Kraken, the actual BattleBots entry. This was finally a chance to drive a match against an opponent of equal weight, and what an intense driving match it was – I went full hard as if it the Giant Nut depended on it. This thing also perfectly fit in Kraken’s trap, as I found out. I kept the pokey dingle at a height to engage Kraken “in the jaws”, and did it once and drove it into the corner. However, once we recovered, Kraken got a better bite on the lid, which led to…

Oops. That’s the outrunner’s wires getting squashed into the rotor. One of the downsides of using external rotor’d motors is you have to pay a lot of attention to where your wires are going. It would have been better to make this a side-exit mounting instead of top-exit. Overhaul, if I keep this drive setup, will definitely have an external shield over the rotor to prevent this.

The wires took a little while to get chewed through, during which it was shooting sparks out the side of the bot which I thought was the controller exploding. I lost this side of drive around 75% of the way through the match, so had to play defense and pivot to keep facing Kraken. Anyhow, I couldn’t find any explosion signs on that Brushless Rage, but I also didn’t feel like repairing this at the event after the Heavyweight bracket ran out of time – originally, each bot was supposed to get 4 matchups, but only we had three in the end. This will be a forensic investigation for later!

Überclocker

Clocker got off to a …. great? Memeful? start by fighting “Marty”.

I’m going to let the video explain itself. Well, I found out it’s definitely front heavy, but it’s also compounded by the fact that Marty is enormous. I also found out this match that Clocker gets stuck on the floors very easily here – they’re plate steel laid on wood foundation, and definitely were shifting around as the event wore on. That’s one of the foils to having a super low wedge in BattleBots – the arena floor will only get shittier, and you’ll definitely regret missing your charges. It’s a tradeoff – possibly get stuck or bounce off a seam, but have weight on the ground.

After I parked the bot at the end of the match, I noticed when picking it up that the lifter was actually seized. What on earth?

It would seem that I #HardParked it maybe a little too much, and the P61 bent in half.

Uh oh. This is maybe an engineering oversight, but the failure mode is also a little infuriating. See, the P6x series shafts neck down to 10mm no matter what diameter you order them as, to pass through the bearings which are of limited size to support the mounting hole pattern. They’re also made of stainless steel.

 

This last part I don’t really get, but basically the shafts are rather soft. So once the preload on the screws is overcome, the whole thing will buckle. Maybe I should have secured them with a 2nd plane or backup plate of some sort. Or maybe I should have used a face-mount technique instead so there’s no “gear climbing” force. Or maybe…

Okay, whatever. I didn’t need the full torque that the 45:1 ratio was going to give – I more did it for a limited lifter speed, but I suppose that’s why I took the care of engineering clutches into Overhaul, and Clockers Past, so it didn’t consume itself.

That’s why you might have noticed the bot split in two for service during Sadbot’s segment. I managed to get a P60 from another team that was the 16:1, two stage ratio, so I had to fiddle it into the bot. This involved cutting the height spacer down in length because the mounting pattern changed. Luckily, I anticipated something dumb like this happening, and the bottom rail has both the 2:1 and 3:1 pattern.

The only downside of going 16:1 is the lifter will be almost hammer-speed. But this could be entertaining in its own right!

Clocker’s next fight was against Ascend, a very powerful 30lb pneumatic flipper. This was going to be a durability test!

It was hard to get under using conventional means, so I mostly had to drive around it and hope to catch it vulnerable post-flip. I also spent an infuriating amount of time trying to get out of a floor seam.  Clocker went flying several times in the fight, which was the shakedown test I wanted.

Near the end, it got stuck upside down because the retaining bolt for the lift axle on the left (gear) side actually backed out and fell out somewhere!  So the gear just skipped as I tried to put it back upright. I managed to get one good grab-and-lift and a couple of other pushes, but didn’t prevail in the decision.

What was cool was I actually got a wheel nibbled off from a direct flipper shot in the first 30 seconds, then drove the entire rest of the match on 3 wheels. Just fine.

This was very exciting. To me, this means if I can keep the chain and inner hubs on, I can treat the wheels very disposably. Not that I’d do it as an explicit tactic, but as get out of jail cards if the situation forced it.

In Overhaul, I’d likely keep the inner wheel tightly retained while the outers are left to float on plastic/shear-rated hardware. I have a few ideas of how to do this for Clocker itself come Motorama.

Another downside of just coupling your actuator to the bot lazily: When your actuator suddenly has 3 times the power, it’s gonna start consuming itself! Remember I put a 42mm brushless on the leadscrew drive instead of the usual 500-class drill motor.  Overhaul has a dedicated trunnion on the lift hub, this is just me not wanting to bother redesigning everything after the lift gear to use a 30lb-scaled one.

The lift motor didn’t blow itself up this time, and in a way I found the lessened torque to be more tolerable. I still clearly had grab and lift ability, but now with the weight of the bot having more leverage against the motor, I noticed I could “trim” the bot better in that match. I’d stick-down just a bit, and gradually the thing finds its self-levelling point. I could then periodically stick-down to refresh it, in a way.

All patched up after wheel service.

Clocker’s 3rd and last fight was against BEEESS???!! (You must only say its name with the upward questioning inflection). I found it hard to get a grab on with his defensive tines sticking out everywhere, so this match was just a lot of driving practice.

And that’s it. Sadbot came away 1/2, and Clocker ended up 2/1! After the event was packed up, I sent the bots back up north with Earl and picked them up from Connecticut again the week after.

Well, not before getting up to some shenanigans in the dark behind the building.

Sadbot, being “Extremely robot shaped” as we termed it, was used as a test dummy by a few teams with lifters/grabbers. Here is a future possible BattleBots entry, Claw Viper, tuning lift motor settings using Sadbot as a dead weight.

The Real Giant Nut was the Lessons We Learned Along The Way

So I’ll do a  more in-depth discussion of the implications for Overhaul separately as its own design series. But here were my two biggest takeaways from this event:

  • If I can make the equation “Overhaul 3 drives like Sadbot drives like Overhaul 1” work, then I feel far more confident bringing sexy back in the arena. I’m satisfied with this powertrain setup, consisting of the single 80mm brushless motor on a Brushless Rage, geared conservatively for about 13mph, and back riding on big blobby wheels.  What I’d probably do is use this as an initial design path, but have a failover ESC solution (VESC controllers have grown up a lot in the past 2 years) as well as a failover brush DC solution. I have some candidates in mind for the latter which I tested over these few months and think are a good idea. More on that later!
  • Clocker was a great architectural test beyond what I intended to accomplish. I definitely wasn’t counting on losing a wheel here! The bot was vastly easier to maintain, even replacing the lift gearbox with a different ratio. I now know that the frame should get longer to better grab and lift – part of the issues stemmed from having to move the front wheels so far back. The small poker wedge legs worked out reasonably, but I’d probably want to make several kinds because of the arena floor. There’s only minor changes and mods I want to make before Motorama. For one, it needs to test the DETHPLOW architecture for Overhaul, and maybe implement my 2-stage breakaway wheels.

One thing to note about Clocker is that I should have dropped the Angerbox clamp drive system to a single stage. I’ve basically done away with the requirement that either Clocker or Overhaul can crush stuff. The clamp should therefore be fast to close, something it wasn’t really at this event. Clocker and Overhaul will likely run single-stage gearing into their clamps for future events.

Between these two major differential tests, I think I have a good handle on what Overhaul 3 has to be.

Namely, it should be Sadbot, but with a grabber and lif….. wait a minute. #holup I swear I’ve built this bot before.