When the power drivers were tested ("almost" without producing magic smoke during the tests), I went to buy the hardware.
I worked a little in the workshop of my friend Nicolás and a little more in my apartment, and before long I built a simple structure and started the first Tilto's tests:
At this point I faced the most difficult problem: The electric motors (donated by my new friend Gustavo) are previously owned and a little worn, and have too much backlash in the gears of the gear boxes. This produces a dead zone where the system has no control and provokes strong shocks that destabilize the entire unit.
I spent an entire week thinking and testing mechanical solutions, until one morning I woke up with a simple software based solution.
It worked pretty well, and I finally mounted the Tilto beast!
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