After the jaunt, i decided that i needed to simplify a few things, just to make life a little easier. I got the right failsafe applied to the 2x32 Sabertooth, so i could remove the relays for the feet. He cant be pushed now without the battery, but saves any current worries there.
I also reduced the max current to 32A per motor from 64A, but i have already had another trip, that was in special circumstances but i think i might be hitting the 30A constant limit, rather than the 90A peak, so i will try and half the current again, to 16A per motor and see if the ESC protects the battery limits that way. :)
After removing the feet relays, i decided to increase airflow on the box, so got the Dremel out and cut lots of holes. :) The ESCs should be able to breathe a lot easier now.
The speaker connectors were getting lose, so i added some RCA connectors to the box, and run the speakers through those. At only about 25W RMS it should be fine. :D Still sounds ok. :) The DC converter for the amp had failed, and was the cause of some of the tripping, so that has gone, the amp will have to do running directly at the battery voltage.
Then i decided to look at the PWM controller setup, the way i have been bypassing the power rails has caused a few issues, so i wanted to use code to turn the servos off. Eventually the code for the body was working well, a little rough, but no relays and better than it was before the change. So i rewired dome, applied the change in the same way. Powered it up, but all the servo spots were different! And 2 of the cheap HP servos were already dead (they had been buzzing hard and i hadnt sorted it). So about an hour later i had all in and the spots and it was still horrible! It did work but there was still a lot of Buzz, so i added timers for all the servos, now they power off just after they finish travel. :) Even the HPs are unpowered if not moving. Works great now, and the wiring is child's play.
While in there playing i edited the way the HPs move in random mode. Previously, they picked one of 5 points, one of the 3 HPs, then flashed and moved it. But this always resulted in the max speed of the servo and only a single movement. I wanted more life in it. After a little thought, i found a clever little trick. The Slow Servo library uses the start and end and time for the travel. But it doesnt know the start, so you have to give it that value. So by picking one of the 5 spots for the start and one of the 5 for the finish, the servo has to jump onto that path and then will move at the speed depending on travel distance because the time for the motion is set to the same for all random HP moves. So the original code was only changed by one random and 2 lines, but the effect is so different. :)
Next up i need to get the Vegas kit done for X2. But i might go back to BHD and apply the Diamond drive, de-buffered PS2 pad code and the servo relay removals.
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