More Temperature Tests

As a follow up to the previous test we wanted to try reliability testing that more closely approximated typical loading that would be experienced during use. To do this a 2.5kg mass was suspended from one of the mounting holes in the wheel hub. As the motor rotates the resulting load changes with the angle of the hub, which results in a sinusoidal loading. This is evident by the current plot shown below in red. After running continuously at 4000rpm with this loading the motor reached a temperature of 100F, which is well within limits and is even much less than the previous no-load test at 12500rpm. With these two tests we are confident that our motor modules can handle a variety of driving conditions, while also staying cool in the process. We are looking forward to having the rover assembled in the next few weeks so that we can test everything in real driving scenarios.