TerrainHopper

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Documentation for modifications and use of TerrainHopper vehicle

Interfaces

Description of the Wheel encoder and RHD plugin

Motor velocity control

Roboteq Motorcontrollers

Remote control

Velocity control through RHD plugin (todo).

UR5 interconnection

Power, gripper and camera

Main computer

Specialities

Steering

Hardware redesign for improved steering with less slag.

Terrain hopper steering

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