1. Team 6 Presents
Bender: Milestone One

2. Milestone One Distributing Weight Dealing With Castors Twice The Code
Problems Encountered

3. Distributing Weight
Placed battery as far forward as possible to reduce weight on unreliable castor, and add traction to powered wheels

4. Distributing Weight

5. Concerning Castors
Moved the castor inward to minimize the area of the contact points
Decided after some testing it was more reliable for us to always keep the castor at the rear - required 180 degree turns
Tried a new castor made from rubber wheels; Offered too much traction, and caused the castor to pull Bender off course.

6. Concerning Castors

7. Twice The Code
First set of code attempted to navigate the cross at a relatively quick speed, as we found our actuators were more reliable when when we sped them up.
Directly attempted to account of uneven surface in by calibration of turn parameters.

8. Twice The Code
Second set of code attempted to navigate cross moving more slowly, placing the front wheels into an area, and doing a 180 degree turn to pull the rear wheel in (minimizing travel distance)
Attempted to account for uneven surface by minimizing slippage

9. Problems Encountered
Spent a large amount of time with faulty components.
Required 3 chip replacements on Motor Control Unit
One wheel warped, fell off continuously