Once the navigation system was integrated, final testing was performed. This was done by simply operating all the controls as and determining the functionality of the robot. There were a few issues found during this final testing. The first issue was that the compressor would work once and then be on constantly even when not being controlled to do so. The issue found was that the high current spikes when turning the compressor on and off was burning out the MOSFETs and causing them to short. Even though the MOSFETs were rated for 60 amps and the compressor only drew 11 amps at a maximum, turning the compressor on and off caused large spikes that would cause the MOSFETs to fail. Multiple arrangements were tried with the same type of MOSFET but all results in the same failure. It was concluded that a stronger MOSFET capable of handling the current spikes was needed. In the mean time, the compressor was operated manually and the tank solenoid valve was reprogrammed so that it would open when the tank pressure transducer reached 100 psi. This allowed the group member to manually run the compressor until the tank valve opened and we then knew the tank was at 100 psi. Another issue was that the turning capabilities were very poor. The wheels were originally programmed so that only one would turn when the user wanted the robot to turn. Unfortunately, a single motor did not produce enough torque to do so. The motors were then reprogrammed so that one wheel would turn forward and the other backward in order to turn the robot. This still did not work though. This could very easily be fixed by using castor wheels in the back instead of a solid axle though. Since the primary focus of the project was the object manipulation system though, and not the navigation system, this was not of primary concern. The final product was exhibited at Imagine RIT. Some demonstrations can be seen below.
