R2-IQ: Rolling on three legs

Build Day 34:

Here's the next test of the robot rolling.

I don't want the ankles on the outside legs to bend.  It will only use the 2nd set of wheels when it's in 2-leg mode.

Also, I already changed the third leg, so it looks like it's flat on the ground.



It does a good job of rolling around, until I try to switch back to 2 leg mode, and I don't stop when it gets a bit off balance (one drive wheel off the ground).

I did find a couple weak spots that needed to be tightened!