Hardware Updates:

- Rewired the robot

- Added all the encoders

- Increased density of LEDs in the light bar 

- Added the base motor; connnected Raspberry Pi to the Odrive

- Added cooling for the steppers using heatsinks and fans 

Software Updates:

- Created a simple simulation to test the kinematics of the arm as it moves to a prescribed set of points

Current Challenges:

- We're having difficulty get the arm to move smoothly