Spirit forward hazcam animation, sols 2078-2138
Here's a summary of what's happened to date. RR = right rear wheel; RF = right front; LM = left middle; etc. Sol 2088: Drive forward, aborted due to too-tight limit on rover tilt Sol 2090: Drive forward in 2 steps of 2.5m, ended early after 1cm forward motion limit reached Sol 2092: Drive forward in 2 steps of 5m, ended mid-drive after RR stall Sol 2095: Drive forward 1.5 m for RR diagnostics, indicate RR works Sol 2099: Drive forward in 2 steps of 5m, aborted in RR stall after 1.5m of wheel turns Sols 2104-5: RR diagnostics at cold, medium, and warm temperatures Sol 2109: RR diagnostics show elevated resistance and no motion Sol 2113: RF wheel shocks everybody by rotating a little; other tests indicate electrical short to rover chassis Sol 2117: Right-side diagnostics: RF rotates normally for 3 steps; but failed during 4th; RR did not move Sol 2118: RF diagnostics indicate intermittent functionality; RR nonfunctional; drive forward unproductive Sol 2120: Drive forward results in left bogie angle increasing (LM lifted into air) Sol 2122: Drive to flatten left bogie doesn't work as planned Sol 2126: Drive commanded with all six wheels, 5 steps of 10m each; aborted during 5th step due to excessive sinkage; RR and RF did not rotate Sol 2130: Wiggle wheels before drive, aborted during wiggle due to excessive resistance to turn Sol 2132: LF, LR, RR steered 60 degrees inward then forward to try to scoop and pack soil before drive; aborted during steering due to excessive resistance to turn in LR wheel Sol 2136: straighten wheels, drive 4 steps of 2.5m each, toe in RF to align treads to hoped-for direction of rover motion, drive 4 more steps of 2.5m each; terminated due to excessive sinkage Sol 2138: A drive, not yet described on JPL website.
Copyright holder: Emily Lakdawalla
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