Dome Spin

This weekend was another milestone.  After fighting with the SyREN10 and the test motor I finally got the motor to engage and spin the rockler.   Its really slow but super high torque.   I could probably drive R2 around and low speed with that thing.  Order a Pololu that is pretty common in the Astromech forums.  Should be here Friday.

While looking for motor specs in the forums I came to realize that I need to upgrade the power bus wiring.  What I have was ok for proof/testing but good chance it won't stand up well to long term usage.  Going to have to order some 14 Gauge wire.  I'd like to swap out the terminal block for a fuse block at some point as well.

Now I need to get a battery, voltage regulator for 12V-5V drop,  and a slip ring to finish out the basic electronics.  Once I have foot motors I'm looking to add some relays that I can break the moto-to-Sabertooth loop to avoid any regenerative breaking feedback.  I am planning to use the Arduino to energize the relay so that 2 things are required for the motors to receive power:

1.  the Arduino is On
1.  this means if the board is powered off the foot motors will automatically get disconnected. 
2. The Arduino enables the foot motors by command from the controller
1. The foot motors would be disabled automatically on boot
2. Manual intervention at the controller is required to enable the motors.  I can disable them at any time from the controller.  Example would be when R2 is just sitting at a convention booth.  He can't move around but the random sounds and dome movements can be running.