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Tristan and I Made progress last week. Made a working prototype of the lambda Model as seen above (with a little help of Tristan’s finger!). While the Proto is very rough and can only operate while lying flat on a table, this allows T-dog to do some code writing to try and get the sunset sunrise calculations working correctly. all of this will be debugged at super 200X speed of actual time and then we can tediously wait to see if it works as intended. As he does that, I have been modeling up a prototype V2 that will include some bearings in each of the joints and some gearing to help give the motor some extra torque. the torque needed is roughly 700 in-oz —> the motor is rated to 300 in-oz. using a 3:1 gear ratio (gear 1 3x large as gear 2) that torque increases to 900 in-oz. Another consequence of this is that we increase or resolution of movement by 3 also. we sacrifice speed, but that really doesn’t matter in this case. the other little addition in the model is the triangle shaped growth on the one linkage – this is a counterweight. my thought here is that this can further reduce the torque needed and give extra confidence that my rough math will probably work out.