a77b88c5 |
1 | ### Phase 2: Build TableTop Challenge Phase 1 |
2 | |
3 | Goals: |
4 | |
5 | * Cut out two pieces of Peg Board |
6 | * Drill mounting holes for sonar module |
7 | * Crimp connectors to cable |
8 | * Mount Sonar modules to Robot base |
9 | * Plug Sonar modules into breadboard + Arduino |
10 | * Develop table top challenge code |
11 | |
12 | Bill of Materials: |
13 | |
14 | * 1 ?in x ?in peg board sonar holders |
15 | * 2 Sonar sensors (EBay: HC-SR04 ~$4/2) |
16 | * 4 2x8 .1in Female IDC connectors |
17 | * 2 12in 8 conductor ribbon cable |
18 | * 2 1x4 .1in Male-to-Male Headers |
19 | * 4 #4-40 Phillips Pan Head Screws |
20 | * 8 #4-40 Hex nuts |
21 | * 4 #4 Washers |
22 | * 4 #4 internal tooth lock washers |
23 | * 2 #6-32 Phillips Pan Head Screws |
24 | * 2 #6-32 Hex Nuts |
25 | * 4 #6 Washers |
26 | * 2 #6 internal tool lock washers |
27 | * 1 18" of twine (for a Wyland leash) |
28 | |
29 | Additional Required Tools: |
30 | |
31 | * 1 Benchtop vice |
32 | |
33 | That provides the basic configuration. |
34 | |
35 | ## Rechargable Battery Upgrade |
36 | |
37 | This gets rid of the hassle of buying and throwing |
38 | away AA batteries. |
39 | |
40 | Bill of Materials: |
41 | |
42 | * 2 7.2V 1300mAh LiPo Battery Packs (Trossen: BAT-7V1300M: $26/2) |
43 | * 1 LiPo Battery Charger (Trossen: KIT-CHG-LIPO: ($16+$11)/1) |
44 | * 2 Female Deans Connector (TBD) |
45 | * 1 DPDT Power Switch (TBD) |
46 | |
47 | ## Raspberry Pi Upgrade |
48 | |
49 | The DC-DC convert is rated for 1.5A and can be |
50 | plugged into the breadboard. The ribbon cable |
51 | can be assembled with just a vise. The RasPi |
52 | allows 5V to be injected over the cable. Obviously |
53 | the RasPi allows people to start trying out ROS. |
54 | |
55 | Bill of Materials: |
56 | |
57 | * 1 Raspberry Pi Model B 512MB (Newark: $35) |
58 | * 1 OKI-78SR-5/1.5-W36: 5V@1.5A DC/DC Switcher (Digikey: $4.30) |
59 | * 1 2x13 Female Ribbon Cable Header |
60 | * 1 16-conductor chunk of ribbon cable |
61 | * 1 2x8 Female Ribbon Cable Header |
62 | * 1 1x8 Male to Male pins header pins |
63 | |
64 | ## Odometry Upgrade |
65 | |
66 | This upgrade requires some work. |
67 | |
68 | Bill of Materials: |
69 | |
70 | * 2 AS5055 ($10/2) |
71 | * 2 AS5055 PCB's |
72 | * 2 Appropriate magnet ($2/2) |
73 | * 2 GM3 to magnet shaft adaptor |
74 | |
75 | An adaptor from the GM3 to Magnet is needed; |
76 | this would be custom made out of some plastic. |
77 | In addition a custom PCB is needed to hold |
78 | the AS5055 which is a surface mount chip. |
79 | |
80 | ## WiFi Upgrade |
81 | |
82 | Something like the GMYLE using the RTL8191SU should |
83 | do the trick. With this it is possible to network |
84 | into your robot. There it may be necessary to have |
85 | separate power injection for the Wi-Fi. |
86 | |
87 | Bill of Materials: |
88 | |
89 | * 1 USB WiFi Dongle with decent antenna (Amazon: ~9) |
90 | |
91 | ## Camera Upgrade |
92 | |
93 | This RasPi camera has not shipped yet, but it seems |
94 | to be nearing the end of prototyping. A USB camera |
95 | is another alternative. |
96 | |
97 | Bill of Materials: |
98 | |
99 | * 1 RasPi Camera (~$25) |
100 | |
101 | ## Cheap Arm Upgrade |
102 | |
103 | Bill of Materials: |
104 | * 4 Hobby servos (base twist, shoulder, elbow, gripper) |
105 | * 1 Gripper (Jameco 358811: $20) |
106 | * Appropriate struts |
107 | |
108 | This is a low payload arm that can lift 10-20 oz max. |