As can be seen from the photos I decided to go with 2 motor drive with trailing castor wheels.
The motors are Pololu 37D with integral reduction gearbox. These are directly driving onto 80mm solid tire wheels. Most of chassis base is angle aluminium pop riveted or screwed.
The metal frame is the chassis from an old HP vacuum tube voltmeter.
Chassis construction began in 2013.
Currently the front of main frame has an RFID switch (from a previous project), then an AVR controller & display, and an Arduino UNO board (which will be running Forth). Base of chassis will hold two LiPo batteries (same as used on large model aircraft) and drive motor power controllers.
Veroboard mounted on the side of chassis is for additional circuitry as required as project evolves.
Rear of main frame will have voltage regulators and power switching.
Front of base has main battery isolation switches and just behind these are isolation links for the drive motors.
Hoping by the end of this year to have all power supply, voltage regulators , and battery charging circuitry finished.
I'm still planning to use the Alix3d3 running linux. This board will provide remote access (WiFi link to Alix3d3 board), and control functions via the USB interface as shown on first post.
I have had a Uno board running simple Forth program to flash out S.O.S. on board mounted LED.
Forth compiler is SwiftX-Lite-AVR. I like this product, https://www.forth.com/embedded/ , easy to setup, good documentation, etc.
Following link shows short video of Uno board, and IDE. More to come later.
https://youtu.be/t6F7-tCOkyY
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