• Mobile Base Work

    Victor Lockwood • 5 小時前 • 0 comments

    The Base So Far

    The first part I'm working on completing is the mobile base, which will be driven by 2 high-torque continuous servo motors.

    V1 of the base was unfortunately flawed from the start; I mis-measured the servos and did not account for the space needed for the wires, so to make due in order to make new measurements, I needed to pry out space so it looks a little like rats got to it.

    It was a starting point though, and as the saying goes "measure once print twice".

    V2 turned out better, repositioning the servos and adding screw holes.  This time it could be assembled.

    With the addition of some subpar wheels and brackets (all modeled and printed), the vague shape of a robot is forming.  I have a weird little piece of scrap that will end up being a castor wheel, so V3 of the base will have a slot for the servo driver, more screw holes and a hole to secure the castor.

    Thoughts on the Local LLM

    I have yet to fully decide on the local LLM to use - I am limited by the computer available to a Raspberry Pi. I currently have a 4, but should the need arise I am willing to get a 5 for this. I would really like to get one of the Gemma models fine-tuned for instructions working, but that may be too tall of an ask. This is my first real dive into working with a local LLM, so any thoughts on the subject are very welcome, please share away!