Will It Move after 10 Years? Sketchy Robot Hacking

Will it move under its own power? We are going to find out!
You can help make more videos like this at patreon.com/watchweswork
We really appreciate it!

[@WatchWesWork]

You can help make more videos like this at patreon.com/watchweswork We really appreciate it!

[@sidneyking11]

Wes, the end of the video had me cracking up! love your sense of humor. The alignment project sound interesting, I hope you build it.

[@mobiousenigma]

lol i already deleted the parts that dont work... well thats codeing i guess and i dont do it . do you think my basic experience would be of use happy to collaborate lol . humour aside thanks for the videos and somehow education happened grats on the success,

[@badasssamurai4954]

Afternoon Wes and family... I just signed up to be a patreon! I have to see this through! I'm absolutely hooked!!!

[@andylewis7360]

Really enjoyed this video, Wes. You’re the very definition of a Self-sufficient Man. And multi-talented into the bargain. Can’t wait to see this sketchy little monster making quick work of a tree! 😁👍🏻

[@nevadak]

Soon as the fancy board building montage started, I searched out your patreon and thought man he needs to advertise this after I didn't see it under the video description. I subscribed and then returned to watch the rest of the video, where you then said it was in the comments 😂

[@itneverwasme]

Wes's 'limited knowledge of electronics'....proceeds to perform expert eletronics work

[@erik_dk842]

Then imagine him doing stuff he says he knows a lot about.

[@timidater4803]

I was just going to reply the same thing! I build guitar pedals which I call a very limited knowledge of electronics. Wes is brilliant!

[@OTPFrodo]

​@timidater4803 I used to test and repair industrial control boards for pollution control and broadcast. I built their test fixtures. Wes did a great job with this. 🎉🎉🎉🎉🎉

[@kevinkennedy8677]

Way better EE than many I have worked with. :)

[@jackpatteeuw9244]

@@kevinkennedy8677 EE "design". Electronic techs make it work !

[@whatthehamsandwich]

I can’t remember the last time I was as impressed with anything as I was with this video. Reverse engineering a pilot project with nothing other than your own ingenuity? Amazing, truly amazing…

[@billybobs841]

I agree hell I couldn't think of how to say wat you said .. hes a genius

[@w900stu8]

You know, now that you’ve done all that work, somebody will send you a message saying “Hey Wes, I have the actual remote for that if you want it!”

[@joecraig6056]

I'm scrolling now looking for just that

[@clinthillard2219]

I like it when really smart people are super humble and sarcastic. It’s fun to watch you reveal a little bit of that here. I’ll take the guy from the cornfield any day.

[@IAmUndersteer]

“It was built by…” 👉😐 “…some guy in a corn field.” 😂😂

[@Rein_Ciarfella]

…and I’m pretty sure Superman was raised around the corner. I think the corn must accelerate super powers, which explains Wes’s superior, innate abilities. No, really! 🔧👍

[@robertadams2857]

That was a good line.😂😂

[@halbud]

"Build it, They will come!"

[@tomjohnson6036]

My wife has always been impressed with my ability to figure out and fix anything that breaks in the house. Cars, furnace, A/C, etc. I do not want her seeing your videos or she’ll figure out how much of an amateur I actually am.

[@WatchWesWork]

You're still a hero!

[@warrenfromga9945]

Ditto.

[@colin8532]

LOL! See, the answer for your wife is that you don't have the right tools (for whatever job you're working on) so if she wants you to be able to fix things, she needs to be ok with you buying the tools you need for each job. Best way to get a shop full of all the tools you want :)

[@jaycarva]

This is the truth right here!

[@GeneralSulla]

​@@colin8532Genius! Honey! Read this! Oh wait, nevermind...,

[@psullivan81]

Wes, you need to add calibrations for each solenoid on the motor drive valves. You need to find the current command at which each track starts to turn and save into EEPROM. Then you adjust your solenoid commands using this "start current" so that you get a consistent initiation on each function. Typically, you'd also calibrate a "max current" point which provides the same reference speed for each function. For the solenoid dither, you need to tune these settings with the goal of minimizing the hysteresis of the actuator valve. To do this, you need to measure the position of the actuator in real-time as you sweep your solenoid commands up and down. A cross-plot of actuator position vs solenoid current will show the hysteresis. Then adjust the dither frequency (Hz) and magnitude (mA) to find the optimal set the reduces the hysteris and provides good linearity in the actuator. Typically, this is around 100 Hz and 150 mA peak-to-peak but will vary based on the design of the coil, valve, and current driver design. Once you've tuned the hysteris and calibrated each solenoid, you need to add some rate limits to your solenoid current commands in order make the machine track smoothly. Looks like a fun project, good luck!

[@RPike-bq3xm]

I was thinking of a form of feedback but the valve calibrations is good.

[@psullivan81]

Usually, a calibration is good enough and doesn't add the complexity of a closed loop control.

[@brsrc759]

Good God you sound like an electrical genius. Almost none of what you said was even English 🤣

[@theovannieuwenhuizen5756]

Excellenty written. Maybe add a low and high rate switch to switch from a low rate current to the maximum / high rate coil current. Or to switch between low and high rate joystick to current mapping of the output pins.

[@dans_Learning_Curve]

I'm guessing the accuracy of the $3000 joysticks and the very lower cost one Wes choice out of his lower budget allowed on this project is required to deliver slight changes the operator delivers. Didn't understand everything you wrote about, but was able to catch enough to understand the basic idea.

[@wscorners]

0:45-18:37 is undoubtedly the greatest transition from mechanic to engineer/programmer in the KZbin automotive genre, and I partake in said genre almost exclusively. Wes, that segment has the ability to stand on its own as an educational clip used in community colleges as an aid for teachers. Bravo!

[@robbyp03]

As a mechanical engineer turned electrical engineer with some computer curiosity mixed in, this series has been a ton of fun to watch. Love learning new things!

[@JohnSmith-tv5ep]

As a guy that went to Electronics Institutes in Pittsburgh back in the 70's and had to learn the operation of vacuum tubes,(plate-grid, etc) to transistors ( npn / pnp). I'm just a dinosaur now! But.retired and happy! Don't wanna learn anymore, but love to watch (in awe!)

[@jp-um2fr]

I'm a real engineer, I build engines, not wires. Technically, you are now an electrician. Much better than a sanitary engineer, though.

[@TheBrookian]

@@jp-um2fr Do you have your own train and everything?

[@JohnSmith-tv5ep]

@@TheBrookian let's be 'Civil ' now ! LOL 😆

[@daleolson3506]

My parents told me I could be anything I wanted. So I became a problem. I also ran with scissors today. I also enjoyed it.

[@glen4130]

I'm not sure how many people in the world could repair the engine,reverse engineer the missing controller and build a new one but I am glad you ended up with it. I'm enjoying this series!

[@antoncrewe4378]

Wes I've got zero understanding of this but your explanation/working diagrams made it interesting & understandable. Love to see more videos. Wireless would be cool.

[@rhekman]

Heck yes to a Wes Made Alignment machine. As an owner of several TTB Fords, steering & suspension geometry seems like black magic, and most of the local shops just throw up their hands, or just set the toe, and say "good enough". When I tried to find resources on doing it myself, there are plenty of videos and articles that show "how" to get a proper alignment, but it's all strings and tape measures, and maybe an angle finder or two. If there's any math, it's just "rule of thumb" stuff. Nobody can seem to explain the actual trigonometry involved in going from a reference angle to proper caster and camber.

[@blackmesaresearch2]

I think you might be over-complicating this. The kinematics of a suspension system don't really matter for an alignment - unless we're talking about modifying the suspension for custom race/drift setups. After all, you can't change how it moves on a stock setup. I totally agree that most local shops suck at alignments, I think mostly because they just set the numbers to 'green' and call it done - despite some of those measurements fighting each other while technically being 'in spec'. Strings and tape measures have won a lot of races, and I've sent several street cars down the road using this method with no complaints. There's nothing wrong with it if you're willing to learn how to do it this way and are meticulous enough to take good measurements. There's no trigonometry involved, just simple subtraction for toe measurements, and leveling/reading of bubble gauges for camber/caster.

[@rhekman]

@@blackmesaresearch2 One man's overcomplication is another man's learning process I guess. 🙂 I have nothing against strings & tape measures. And eventually I was able to dial in a setup that didn't eat tires and handled well. The reason I'm looking for something more in-depth is my desire to not have arrived where I did by basically trial and error. If I could read the level/angle finder and do some math and figure out how many degrees of caster & camber I actually had, then I would have saved many steps. On an A-arm vehicle with cam bolts, adjusting & checking alignment isn't that big a deal. On a Twin Traction Beam/Twin I Beam vehicle, an adjustment involves removing the wheel, undoing the pinch bolt, removing the alignment bushing, then reinstalling everything.

[@SabbaticusRex]

Have you tried kicking or hitting stuff if it doesn't drive straight ..? The Ultra-Violence method of suspension alignment .

[@SCARLETBIRDS]

fastest way to align a ttb is to align your tires with the frame first, make sure the pitman arm is at 90 degrees with the steering wheel matching and then measure between the front and back edges of both tires, then drive it with 4x4 on, if you are off it will pull when you give it gas and can make guesses as to which side needs adjusted based on the visual pull you also get vs the body, just had to do this the other day

[@charleshoppmann3591]

As a high school electronics student, electrician, and lifelong shade tree mechanic I think this is the greatest and most inspiring content I have seen. I’m amazed at the breadth and depth of your knowledge Wes!

[@CaptnCall]

One of the coolest guys on KZbin. Had no idea how universally educated he is.

[@jeffo881]

go back and watch his old CNC machine repair videos

[@nodaklojack]

His middle name must be da Vinci

[@madrew2003]

Way over-educated for the "guy living in a corn field" thing. His neighbors are way lucky he's around.

[@karencary3312]

The smile on your face as you were remotely driving the machine was the smile of a very proud parent. Great job, well done. ❤❤❤

[@WatchWesWork]

I think it was a look that says "I'm ready to run for my life".

[@mr_gerber]

​@@WatchWesWork Why not both?! xD

[@StB55-oi9yp]

Loved your class on hydraulics and electronics, Professor Wes. Not to mention the programming part and the video editing. You are truly a renaissance man.

[@Zach_Miller]

Man it was exciting to see it move finally, I'm totally invested in this series. The electronics work, though on a cutting board, was quite impressive. I'm all for more of these engineering type videos, this format and the method of delivery does have a pretty big audience. Information & results > production

[@nathan747berg]

I sincerely hope some high school shop teacher sees this and shares it in class. Your ability to articulately explain the problem and then walk through the repair process is bar none. Fantastic job Wes.

[@JackdeDuCoeur]

I wholeheartedly agree. Including the illustrations and models.

[@colt250ss]

I am that high school shop teacher that will be sharing this next week. My students and I thought we were onto something last year when we made VEX robotics controllers trigger lawn mower solenoids and drive drill motor robots running off drill batteries. Those students will eat this high level engineering up!

[@oldbloke100]

@@colt250ss Wes is next level, his knowledge is amazing.

[@bulgarianicedtea7897]

As a student just getting into electrical engineering and software. This video was 30 minutes of pure bliss. I don’t think you give yourself enough credit with your knowledge of electronics, that was mighty impressive.

[@peterparsons7141]

This is awesome.

[@unimoggel]

What you performed as a "side" project, is just incredible. I'm a mechatronics technician by trade and this is right up my alley way. Seen the project going through its phases is awesome and probs to you for for building everything on the control side from ground up, it's truly impressive. Please keep on going and take your time, stuff like this is not worth the rush💪💪

[@michaelbabella1103]

'Limited electronic knowledge' my foot...this is the best series u have done, MOST INTERRESTING...the rv episode is still the funniest i have ever watched! Be safe around that thing, 'squishy human', LOL!!!

[@IAmUndersteer]

The shot at 23:03 of you literally taking your robot for its first walk on a leash could not have been more perfect. I’m in total awe at your ingenuity and sticktoitiveness. Bravo, Wes! 👏

[@dvdosterloh]

I was waiting for a yelp and the skidder took off across the fields😀 and a chase scene

[@viendo1alotro]

Wes, as a company owner I had to long ago understand that I might be a visionary but that the key to growth was to keep a sensitive eye out for those whose talents and drive would move the company forward and raise the standards-the bar. They also had to be teachable and be able to teach. You are that kind of person. Your family should be proud

[@justinagrella3065]

The all new Wes Automated Roving Robot. WARR for short. 😆

[@TheDesertRat31]

​@justinagrella3065 thats awesome ! Lol

[@aarongriffith8918]

Wes, I must say you're a national treasure. I appreciate how you're adept, willing and enjoy simple mechanical repairs yet have the ability to delve into big brain stuff like electrial theory and computer programming. You are such an asset and inspriation for people to be humble, learn, and truly excel. Talent and work ethic don't even scratch the surface. Thanks for bringing your dry humor and talent to the masses. 👍

[@angrypandaification]

Taking the robot for a walk? Man, that truly is one of the most remarkable things I've ever seen on youtube. Fantastic work Wes.

[@guswalker8895]

Wes you are amazing, I've worked with hydraulic systems for over 40 years. Retired now, what you did and explained was one of the most impressive feats I've ever seen. The programing aspects are way beyond my experience but you somehow made them understandable. You truly are a soft spoken humble genius, thank you.

[@glenndarragh4417]

"Soft spoken humble genius " Nailed it 👍 My 70 year old brain melted watching this - I have NFI how Wes can do this stuff.

[@whammond511]

@@glenndarragh4417And it’s such a pleasure to watch!!

[@JNHEscapes]

I am blown away by all of this. I have owned an IT support company since I graduated high school (1995) and I’m semi-retired having made a good living in tech, yet, I wouldn’t even know where to begin with this project. I understand the general concepts and I own an excavator so I understand the principles of hydraulics, but watching you build and 3D print your cutting board was magical. As a business owner I also understand time and money too and your explanation about why patreon is important was THE best explanation I’ve ever heard. I always thought it was stupid that people just gave other people money to see them do dumb things, but watching your videos is like taking a course on how to get things done. I would LOVE to see a very detailed video on how you would convert that to wireless. How much do you need to do it? I also wondered while watching…if building that machine today would make it a viable product? Maybe the pumps are junk or newer design pumps would work better and be less sketchy. Regardless, this has been awesome to watch, but I understand it’s hard to monetize. Know there are alot of us nerds out in the world that believe you are an alien for being able to combine fixing a 7.3 diesel and programming c++!! I wish I was your neighbor we could do amazing things together! Great work!

[@Hyratel]

you need a transmitter and receiver of some sort (many options, some more application-suitable than others), signal-loss failsafe (some wireless options make it easier than others), control-encoding protocol if you don't use something turn-key (many to choose from) my brother and I built a little R/C skidsteer about 60 pounds of anklebiter using a wireless Xbox controller, which the machine-side transceiver has a built-in signal loss monitor that can be used to E-stop On Lost Signal

[@DELirious97]

A wireless sketchy tank bulldozer is always a good idea. Loving this thing. Really interesting

[@FarmCraft101]

Damn Wes. I wish I had even a fraction of your knowledge on electronics. Very impressive. I'm looking forward to seeing that thing wireless, and I have a feeling you are going to get it working better than it ever did in the first place.

[@WatchWesWork]

I hope I do. This things needs to go back to work!

[@dans_Learning_Curve]

John, good to see you doing something other than starting excavator on fire! Sorry, just a little jab! LoL 😂😆 Eagerly awaiting your next video on that tractor!

[@dans_Learning_Curve]

How about doing a collaboration with Wes helping him pick up a few thousand subscribers? I have a feeling your subscribers would definitely enjoy Wes's content!

[@TheHomePros6221]

Your mechanical,computer engineering, code writing, electrical, filming,editing,….ect…..ect…..ect….ect skills are absolutley amazing!!!!! All of us viewers are so blessed to be able to watch someone that’s so talented! Keep up the great work wes!!

[@jamesfinley1075]

etc.

[@callen6893]

I was waiting for Mrs. Wes to say “have you seen my cutting board?” Glad to see you found a project to bring us along with. Definitely seems to have captured your interest and keeps you excited about.

[@johnwilliams4545]

🤣

[@major__kong]

I've made many trips to Walmart for plastic electronics mounting trays aka cutting boards. I thought I was the only one with that idea. Those flexible plastic cutting mats also make good battery cell separators / insulators.

[@RobsFixitShop]

Wes, I am an embedded software developer and I loved this video. Just a note that it is now really easy and cheap to draw out circuit boards and have them built. There are templates for the Adruinos so that you can drop the pin headers right onto the design.

[@WatchWesWork]

I’m using KiCAD to do just that. It’s new territory but it think I can figure it out.

[@jimcisco9998]

Great episode! You should get a longer cord so Robo can run out to the road and get the mail. Level 1: Tear the mail box off the post and bring it to you. Level 2: Clamp onto the mailman's vehicle and bring it to you.

[@TooPoorForADirtFloor]

If you could get it back to wireless and put some cameras on it you could plow your parking lot from your couch

[@johnsmith-wd5sq]

Omg! This is the same comment I just posted before I saw yours! Great Minds think alike!

[@MaShcode]

Absolutely! Draw a box with x/y lat/lon and and hit run. The Roamba.

[@IGDZILLA]

I was thinking Wes could put it on the Internet and have everyone able to control it to clear snow. What could go wrong.

[@scottsutcliffe1558]

Wes, as a former ASE Master Technician, and now a software engineer, your videos really hit home with me. I’m 62 now and absolutely love to watch you diagnose and fix a complex issue, as well as projects like this one. Keep doing this, I’ll be joining Patreon for this stuff. Also, YES, create the alignment machine!!!

[@joshspranger7041]

Wes, you are me 30 years ago. I too had all kinds of different projects I was involved in. Granted mine were more in the digital space with not so much mechanical (USAGI and Curious Marc), so it's fun to watch you. Love your format.

[@benc3380]

As an industrial electrician, I'm glad you followed the standard working procedure of hitting and releasing the E-stop a couple times for shits and giggles after installing it.

[@mattmanyam]

Sparkys version of "That's not going anywhere!"

[@etcss642]

Fact! On point.

[@wakeupamerica2971]

First, a DIY alignment rack would be legendary! And you could probably set yourself financially for a very long time if you make a usable model! Second, it's absolutely insane that you put this much work into making this machine work just to make a video for us to watch! We appreciate your efforts Wes! This video blew me away.

[@bruwin]

First of all, I love your wife, second of all, I'm currently going through a mechatronics degree where realistically I could have the job of repairing the brains of a machine like that. You had a lot of good explanations for how that all worked.

[@danmiller6880]

You're a freakin' Renaissance Man, Wes. You're brilliant in your own, subtle, hilarious way. I'm an Electronics Engineer by education, but that was a very long time ago (back when those CNC boards were current) before the IT world devoured my brain and sucked the will to live outta me. I'm just now in the last few years getting back into electonics and Arduinos, ESPS32s, RaspberryPis and what they can do. And I am thoroughly enjoying it. Growing up on a farm and seeing machine control like this progress from mechanical to mechanical-hydraulic to electrical-hydraulic to electronic-hydraulic working with potentially life-ending machines like this.... and now marrying all that together. I get it. And I love it. You've done a fantastic job and should be really proud of yourself. Fit and finish aren't as important as function ("It's only temporary - unless it works.") Looking forward to the next chapter of this. And also looking forward to your shop-built alignment rack. Keep up the good work!!

[@anthonyvisnesky6656]

Wes, I'm a 76 year old EE ( Purdue Un.) the first computer I programmed was a PDP 8( 8 bit binary) it used Punched paper cash register tape ; lamps and photocells shining through the holes in the tape or blocked by no hole. I learned Fortran IV programming as a freshman in 1965. I absolutely loved this video. I loved being " geaked out". My family insists I always have been! Keep up the great work for those of us who are entertained by arcane stupifing engineering projects. Excellent work.

[@denjhill]

Ah yes, the PDP 8. Remember it well. I worked for NOAA doing hydrographic surveying and that computer was our mainstay back in the 1970's. Water depths along half of the U.S. coastline were acquired with it. Always liked it. Simple, robust, and reliable.

[@nodaklojack]

Yeah, I'm not a fraction of you guys but still enjoy this channel, much respect.

[@major__kong]

Purdue AAE grad '94. Aerospace is full of decades old Fortran code. I started off with F77 but eventually stumbled into older NASA code that used overlays (poor man's memory management) and Hollerith constants.

[@mdouglaswray]

DEC! DEC! DEC!!!!!!

[@stephenwilson7641]

@@denjhill Small world!! I worked for NAVOCEANO and we used the PDP-8i and the PDP-9 for Hydrographic Data Acquisition on our survey boats and ships.

[@JoeInBendigo]

PLEASE, please keep doing engineering videos! I enjoy your problem-solving vehicle vehicles too, but this is much more exiting.

[@shmackie]

This was an absolute pleasure to watch. I don't have much electronics experience, but as a computer systems engineer I can tell you that the things you have learned about programming will quickly compound and it will become the fastest part of your development loop. Also, if you haven't already started, write unit and integration tests for your software. You will thank yourself later.

[@theroosterblocker]

Wes is turning into the "Frank Makes" of mechanics channels and I am personally here for every second of it. Bravo sir! Get nerdy! Robot revivals is the next big KZbin fad and you are in the first wave.

[@kirkstruik6118]

As a Patron, a network admin, and a shade tree mechanic, I fully support more videos like this too. I’ve created a few things from Arduino and Raspberry Pie at work to solve specific problems, and it’s immensely satisfying. Keep up the great work.

[@kevinlewis7250]

“A 2 ton diesel powered robot on tank tracks” I love it. Sounds like something right out of Wolfenstein.

[@VinyB57]

LOOOOOOVE this project! It might sucks to spend that many hours in programming and not beeing able to translate that directly into content. Like building something for 30 hours can get you a 1 to 2 part video, but 30 hours of programming, is just a 30 sec montage!

[@imdeplorable2241]

Sir, I would bet that you are smarter than 90% of the mechanics in the United States. That explanation of your processes, etc. was amazing. While I don't know the various parts that you used to make the controller, through your explanation, Iwas able to follow along and UNDERSTAND what you were trying to do. Well done, sir. Extremely well done.👏👏 And, thank you for the education I've just received. 👍

[@Trains-With-Shane]

Nice work! At what point does the machine become self aware, go back in time, and attempt to kill Sarah Connor? Because we'll need to pull the plug before that happens.

[@jg24diecast41]

Your lovely wife with her dry humor and digs needs to be in more of your videos!

[@wildcoyote34]

this is one seriously cool machine ,,i'm amazed at the fact you were able to reverse engineer this thing and actually make it move and the thing actually works

[@jdub3475]

"You're a wizard. Harry" Too cool Wes, be cool if you can eventually get a radio remote hook up like you said.

[@henrysboy2]

As fun as the technical work was - the conversation with your wife at the end was the best part. Amazing job and wonderful video. Thank you.

[@WatchWesWork]

I thought so too. I wasn't going to include it. Glad I did.

[@_ohmz_electric]

He’s gone from having no idea how it works to walking it like a dog in his front yard. I love this series. Perfect Sunday morning watch

[@sabunh]

Jesus Wes. I hope you realize what an accomplishment this is. I am LOVING this series.

[@richardmiels3402]

What can't Wes do? I am again staggered at how you can diagnose, manufacture, trial and test what seems impossible. You are a testament to "you are only limited by your imagination" and quite an inspiration although Mrs Wes is yet to be convinced! Thankyou.

[@nerdyrcdriver]

Two joysticks for tank steering might be easier than the single joystick. I piloted many robots in high school and college and always preferred two joysticks instead of 1. You can get clever and have a switch that changes what the joystick is controlling, just like an MPG handwheel on a CNC machine can jog any axis but only has one wheel. Absolutely more engineering videos!

[@MrSleepProductionsInc]

Yea, had a scissor lift with a single joystick forward/back left/right setup like Wes made and it was horrible to drive! Never could get it to reliable move how I wanted it to either.

[@robertbrewer2190]

Your modular track setup should make two joysticks easy, relatively. Maybe better quality joy stick from Remote Control model airplane gear? When you have to fix the new unit to install it, well...

[@joshuban]

Amazing. There's so much in this video. The moving hydraulic diagrams with explanations, the comparison of 80s/90s tech with what you can do today, the valve centering model, a bit of 3D printing, a bit of coding, a bit of signals analysis, a bit of electronics, jokes, danger. It's got it all!

[@jameswalshjr]

I think we just watched the birth of Skynet and terminators.... Seriously though, great stuff here. Seeing that 2 ton murdery robot lurch into life was definitely 100 on the cool factor. What's not to like here. Like Wes said, mechanical, electrical, hydraulics and possibility of death. Way better than anything on TV. Keep up the good work!

[@daveschroedersworkshop4479]

Wes, I would hardly call your knowledge of electronics "limited". It's been some time since I've seen anybody do what appears to be wire wrapping. Also, your component choices seem to be pretty much spot on. I just subscribed, not sure why it took me so long to climb on board. Nice video! I'll be waiting for the next one!

[@charlesm8834]

Honestly Wes has the kind of mind that if he was born in the 1920’s or 30’s this is the brain that deciphered the enigma machine or created the timing Mechanism for torpedoes in depth charges. Your truly amazing my friend

[@1pcfred]

No one decyphered the Enigma machine. It was commercially for sale. Before Poland fell they sent one to the British. What they did was figure out how to crack the wheel code fast. Which was an impressive feat. But mainly they did it through gaming stupid operators. Some would always sign off the same way. That would give the code breakers cribs. If you had a handful of letters you could work back from there.

[@trezsr]

I have to say that you’re precisely the right person to own this contraption, because I can’t imagine anyone else having the right combination of mechanical and electrical know how, not to mention the patience, to get it functional. Just friggen brilliant!! Well done!

[@cleenlivin]

👍👍👏👏 Very cool! Never underestimate the skills of a farmer/shade tree mechanic/fix it guy/electronics tinkerer working out of a shop located in a field in a small town.

[@PseudoEmpathy]

Mechatronic engineer here. Nice control system! That being said, PWM driver for solenoids? Jesus man! That is so much work! I would have just used a couple of beefy servos, they run on PWN signals but at about 5v, you just send them a number via the PWM value and they turn to face that number's direction. Commonly used on RC airplanes for their infinite* analogue variability and simple integration. Also, do add some endstops, fuses , failsafes and an *oh shit* button to the machine itself. Apart from that, awesome work! It's always surprising how easy mechanical to digital system integrations ends up being.

[@littlewingpsc27]

I know you keep saying you don't have Electrical Engineering skills, but as a former Electrical Engineer and now a Project Manager, you did exactly what we used to do (and still do) all the time. You made a working "bread board" (that is what we call it) prototype, splayed out into working sub-systems, manually wired up, and got a working prototype. Easy to develop on, easy to troubleshoot, exactly how it is done in the real world. Now that you have it working, if you had a student version of OrCAD or some other PCB layout tool, you could design a PCB controller board to reduce the "sketchiness" and probably get a online PCB house to fabricate a board for you. As a wireless interface you could probably use Bluetooth, WiFi, or other similar short range data interface to your controller. This has been a very cool project. If your local High School has a STEM or Computer Science class you could offer up the programming as a class project to the school. This would be a cool learning experience for the students. There is probably some up and coming SW programmer that could assist with this. Definitely worth a membership. I'm in.

[@WatchWesWork]

You can get PCBs made for $50 or so. I'm using KiCAD for electronics. It's free and does PCB layout.

[@conorstewart2214]

@@indylmc have you been living under a rock? PCBs are relatively cheap to get made now, potentially as low as $5 for 10 two layer, 100x100 mm boards, of course shipping is extra though.

[@conorstewart2214]

Kicad is good enough for most PCB design work and since it is open source it is completely free to use, no need to try and get student licenses or pay for licenses just for work like this.

[@tiredoldmechanic1791]

I took electronics classes in the 60s. The term breadboarding came about because early creators used the wooden boards that were common in many kitchens for mixing and kneading bread dough on. They were about 2 feet square, the wood surface was perfect for laying out electrical circuits and the boards were cheap to buy back then. We used the wooden boards to lay out circuits to prove the design. They started getting some of the plastic boards in my senior year.

[@or-what]

​@@WatchWesWork Alongside your idea for a homemade Alignment machine, how about a homemade locking tool chest, seeing if you can beat the price of a Snap-On tool chest

[@epongk1209]

Wes....I've watched you religiously for years now and have never commented. I love all your content and especially the variation in it. You put forth a TON of effort and it shows. Having said that, this is, BY FAR, the best video you have EVER made thus far. Keep up the awesome work my friend! I sooo look forward to your videos. You made my week dude... you're a good man.

[@omaristephens2143]

Props to the WWW corn field graphics department on this one. The solenoid explanations were _really_ well done 👏🏽👏🏽👏🏽

[@RubenKelevra]

Regarding the feedback: I wouldn't use the voltage as feedback, but use an encoder to get the feedback. One option would be to get the actual valve position, so you can adjust the solenoid this way. But a better option would be to use a rotary encoder on the actual tracks. So the solenoid's pulse width is following what the track is supposed to do, rather than a voltage or a valve position. This should give absolute straight tracking, regardless of other flaws in the system, like different flow rates, restrictions in the flow to one track, different terrain, lateral slope or other non-uniform pull on the vehicle. Only slip of the tracks itself is not accounted for this way. This way you can avoid dithering and thus reduce wear significantly on the valves. --- Slip itself isn't an issue tho, only uneven slip is, so you could correct this - if you want to - by adding a compass to the vehicle which can detect that the vehicle is turning when it shouldn't. But this is probably out of scope for your programming skills (sorry!) so I would recommend buying another Arduino and put Ardupilot on it instead. This way you can command the actual rotation of the tracks with Ardupilot and use its good feedback capabilities of it for 3D compass and GPS plus remote and autonomous mission capabilities :) --- Just mentioning it because that's also an option: There are sensors which can optically track movement. So in theory, you could drill a hole in the bottom of the vehicle (between the tracks) and track the movement of the ground below to compensate for slip and drift to one side. This is done in optical mouses as well, but you need a sensor (or more specifically a lens) which focuses further distance away from the sensor.

[@RubenKelevra]

To increase steerability you could also add either a dead zone on the joystick, or even better have a 1 axis joystick for forward and backward and a spring return knob which can turn in two directions for turns. So forward and backward is completely uncoupled from turns on the remote.

[@WatchWesWork]

I do have a deadband. The problem with any kind of feedback is the slow physical response of the solenoid. It takes up to a whole second to respond to commands. That latency would cause massive oscillations. I don’t know how to get around it.

[@RubenKelevra]

@@WatchWesWork the algorithm for this is PID, which gets tuned with the typical response time. It's originally modeled after the input of a helmsman to the rudder of ships to hold a steady course and it used to this day for tasks like this. Its not perfect but it sjould get the job done.

[@DieselDoc78]

You freaking blow me away. You have a brilliant mind. Keep producing, and we’ll keep watching!

[@dirtydeedsvienna]

This is really one of your best videos. Education (great diagram explaining the hydraulics), storytelling, video production, Wes exploring new stuff, humor with the wife, this has it all. Absolutely love that format. Must have been a great joy for you when driving it for the first time down the driveay. Felt happy for you. Thanks for that!

[@jackpatteeuw9244]

I have to agree on the diagram and solenoid "prop". Great educational tools.

[@jameshockey6916]

Wow... just wow, Iike to think I have a reasonable understanding of machines and electronics.. but watching this I felt like a dog watching someone rebuild a car, very interested and understood the words.. but together meant very little 😂 Absolutely outstanding work as always and a fantastic video. Thank you 😊

[@LazarusMP]

You were both literally AND figuratively 'bread board' prototyping this thing... Amazing. And as for this kind of content and more of your 'cornfield engineering' ideas I can simply say YES!

[@SmallMartingale]

I don't know why I couldn't stop laughing as you drove your little demon child out of the shop. Dr. Frankenstein in awe of his creation.

[@robstone9628]

It is very recognizable how much more work you put in filming, editing and of course the project itself! Not that you did not to that before but there is a clear difference.

[@adhamatta]

Wes, I rarely ever comment but I wanted to tell you that this is your best work. I love this kind of content and I believe I m not alone. Build crazy stuff and we'll keep watching.

[@vernonhuey5885]

Im 67 and just recently retired this is so out of my league but I love it you are not just a car fixer you are a very talented person

[@jasonb6570]

You had me at "full nerd mode".

[@paulperratt3748]

Sometimes, no matter how clever you think you are, you get reminded that you actually know absolutely nothing about anything. Today I watched a mechanical genius reverse engineer a logging robot from nothing and I realised that I actually know even less than I thought I did, (although I know a lot more than I did at the start of this video courtesy of Professor Wes). Outstanding work Sir, and very nicely presented, its stuff like this that the internet was invented for.

[@infocpctrainer]

If you ever need to wonder why you should consider Watch Wes Work? This video should convince. I'm in amazement how Wes does all this. I loved his early CNC repairs back in the old shop. Do I want more of these? You Bet. No wonder he can sort most electrical problems, I really should say ALL!

[@Mrpaint06]

I've not made it though the entire video yet, but as a novice at...life. From 10:37 to 10:47 is probably the simplest and most profound way to explain a hydraulic pump connected to a hydraulic motor. Wes, thank you for distilling very complex information down to very simple concepts that the rest of us can understand.

[@robertadams2857]

It was a pro move

[@laurence1643]

First thing Sunday morning I wake up and watch this episode. I'm immediately chuckling out loud and fully engrossed by your analytical way of solving this electromechanical, hydraulic mystery, killing machine's manual of operation. Your sense of humor significantly heightens the experience. This is the ultimate, industrial version RC toy. Make it wireless and you could sit in a watchtower and run a logging operation. The perfect epilog was with your wife's comments . You are blessed to have each other. Thank you Wes !!!!!

[@johnjohannemann1220]

I don’t comment on all of your videos, but this one I felt in need to do so. You’re wealth of knowledge surpasses mine tenfold. As a master automotive technician I so appreciate the things you do and share with your public. Good job as always. I look forward to the next one.

[@sixertogo]

It was impressive that you got it running. Now doubly impressive you got it moving. Well done Wes

[@colddiesel]

Watched it twice so far.Your most interesting project to date. I now understand why a friend who teaches at TAFE (Technical and further Education College) here in OZ has made the viewing of a number of your videos compulsory for his students. His objective is to show them how to go about problem solving. You are all the things other folk compliment you on and a fine teacher too. I'm into my ninth decade and still learning. Thanks.

[@gumby2241]

you have totally outdone yourself! I'm a retired electrical engineer who does all of the 'hobby' type stuff you have done. It's not as easy as you demonstrate, I can only speculate the time you've spent on this project, bravo!

[@The-Deadbolt-Deputy]

Wes , the rubber band model was genius ! My brain can understand this. I am intrigued by this machine and your skills. Thanks

[@JHruby]

I was just glad to hear you say that what I thought was an Ikea bamboo cutting board forming the base of all the electronics, wasn't actually a bamboo cutting board. Because that would have been sketchy. Absolutely love this project. You're awesome Wes.

[@TheShawna1]

In the antique electronics world that is called a "Bread board"! and quite literally it is one.

[@imchris5000]

@@TheShawna1 high voltage stuff used slate as a backer

[@dans_Learning_Curve]

​@@TheShawna1 now that you mention the word bread board, I've caught the humor of his choice of base!

[@dans_Learning_Curve]

​@@imchris5000LoL 😂😆 Unlike the guys that intentionally run extremely high current/voltage through wood to obtain the burn marks/path!

[@thetoolman3]

Wes, as a senior level mechanical engineer with a couple of decades of experience with hydraulics, controls and programming, I have to say your capabilities are quite impressive. I've been a fan of yours for a while. But this is next level. I think this one video is the best thing I've ever seen on YT. Well done, sir. I'm headed to Patreon now.

[@ap6553]

I agree, this was definitely one of your best videos ever Wes

[@mitsuman5555]

It’s fair to say your talents are wasted on car repair. This video was incredible. Not only what you built, but the presentation and explanation of it.

[@ihrescue]

Maybe it would be helpful and safe for the robot to have a total system shutdown switch, a palm size red button that you hit when it won't respond in time. They have these system shutdown buttons at fuel stations with self service to shutdown the pumps in an emergency. Also it would seem a wireless control would be like the crane trucks they use to load roofing material on houses. Nice work, you have really hit a self-actualization indicator. Your videos are always interesting and follow a logical presentation path. Two thumbs up.

[@christhefistful]

As a mere mortal with 30 plus years of twisting wrenches on HD equipment I salute you Wes. You explained everything we needed to know to follow along and understand what is going on.

[@olds69trondjarle]

That could work as a tow vehicle when the misses is unavailable! Make it wireless and you can control the tow and move things around alone...

[@rimmersbryggeri]

It could also be used as an a remote controlled self propelling engine hoist. Could be useful considering some of the vehicles wes works on.

[@olds69trondjarle]

Multipurpose vehicle, towing, plowing snow and engine hoist.

[@artemiasalina1860]

@@olds69trondjarle Yes, snow plowing with way-points and collision avoidance would be hilarious to see!

[@johnnyzander1466]

Thanks. I was going to write the exact same thing. 😂

[@dans_Learning_Curve]

In 1974, I was 10 years old and in the 5th grade. Living in N MN. I thought, "Wouldn't it be fun/nice to have a remote car starter to enter a warm car?" Unfortunately, I didn't get past the idea stag! Issues that prevented the project from moving forward. 1. Carborated engines. 2. $0.00 working capital. 3. Remote control. 4. Hardware that I believe only the military had at that time. 5. ? 6. ? ..... Definitely would have been a game/life changer! 🤔

[@Joe-pn5oe]

Love the "made in the USA" when Wes is explaining the friction on thr valve

[@asbjrnkvisle5831]

Engineering version of the Stockholm syndrome. I've been there 😂

[@mwhferrari]

Nothing says DIY like using your wife's cutting board as a platform! Loved the video.

[@jacobzepeda3930]

Wes!!! I love that you did all of this by yourself. BUT you should seek out help from our Canadian friends over at Hacksmith industries. They literally built the power loader from aliens. They literally did programming and everything to control the hydronic from a wireless remote AND in a first person control system. That would be one helluva colab in my opinion!

[@PR-wu3sg]

YES! I myself would LOVE to see more projects similar to this. As a trades person myself in northern Canada, I eat this stuff up :D Excellent Job Wes - you are a master of all things mechanical!

[@Stang413]

I’m impressed you can remember your programming knowledge from 20 years ago as I can barely remember programming I learned 5 years ago. You really showed off your range of skills here.

[@1pcfred]

I think the joke there was that he started from almost zero.

[@sledder43]

This is probably your best video you’ve created. Amazing content man