37d286e7 |
1 | ;; tldr; AGPLv3+ |
2 | ;; copyright info at bottom |
3 | |
4 | (document |
5 | :title [challenge-bot] |
6 | (chapter |
3c0c7ca4 |
7 | :title [mechanical] |
1625f486 |
8 | (p [let's build your robot!]) |
3c0c7ca4 |
9 | (section |
58c778a1 |
10 | :title [arduino to deck] |
4a423b08 |
11 | (p [let's attach the arduino to the deck.]) |
cf59d996 |
12 | (subsection |
13 | :title [required materials] |
14 | (p [you will need the things in this picture. |
15 | ,(figure :legend "arduino to deck / required materials" |
9fbc1a3f |
16 | (image :file "arduino-to-deck/0-required-materials.png")) |
cf59d996 |
17 | ,(itemize |
18 | (item [medical kit with bandages]) |
19 | (item [safety goggles]) |
20 | (item [drill bit \(we will determine size in a moment\)]) |
21 | (item [drill]) |
22 | (item [alan wrench]) |
23 | (item [wood block]) |
24 | (item [arduino]) |
d0873756 |
25 | (item [#6-32x3/8\", four of them]) |
26 | (item [robot deck, the white thing with a grid of holes1]))])) |
24b6d750 |
27 | (subsection |
59fef212 |
28 | :title [first hole] |
ff0f6a78 |
29 | (subsubsection |
52596bd0 |
30 | :title [choosing drill bit] |
23045a14 |
31 | (p [the arduino comes with holes in it already, so we will make |
32 | some choices around those holes. |
33 | choosing the right drill bit depends on what job you are |
34 | doing. |
35 | right now, we are making holes for screws to hold the |
36 | arduino to the deck. |
37 | there are two constraints between the hole and screw. |
38 | each hole needs to be big enough for the screw body to fit |
39 | through it. |
40 | the holes also need to be smaller than the screw's thread. |
41 | since there are holes on the arduino already, the screw was |
42 | chosen to match it. |
43 | the screw was chosen so that the hole on the arduino was |
44 | bigger than the screw body and smaller than its thread. |
45 | we will choose the biggest drill bit that fits through the |
46 | hole on the arduino, then use that to drill holes in the |
47 | deck.]) |
85fae63f |
48 | (p [here's a cross section of a screw in the deck] |
49 | (figure :legend "screw cross section" |
50 | (image :file |
27547a79 |
51 | "arduino-to-deck/screw-cross-section.png"))) |
52 | (p [check |
53 | ,(itemize |
54 | (item |
55 | [what would happen if the drill bit were larger than the |
56 | screw thread?]) |
57 | (item |
58 | [what would happen if the drill bit were smaller than the |
59 | screw body?]))])) |
ff0f6a78 |
60 | (subsubsection |
ca8e4428 |
61 | :title [inserting drill bit] |
62 | (p (figure :legend "arduino to deck / insert bit" |
63 | (image :file "arduino-to-deck/1-insert-bit.png")) |
64 | [insert the drill bit into the teeth of the drill. |
65 | insert it far enough that the teeth will clamp on the |
3875c1ef |
66 | smooth part of the bit when they are tightened.]) |
67 | (p (figure |
68 | :legend "arduino to deck / twist tighten drill teeth" |
69 | (image :file "arduino-to-deck/2-twist-tighten-drill-teeth.png")) |
70 | [while holding the drill bit, twist end of the drill to tighten |
71 | the teeth. |
72 | make sure that the teeth end up gripping the flat part of |
1887fb16 |
73 | the drill bit.]) |
74 | (p [check |
75 | ,(itemize |
76 | (item |
77 | [where should the teeth clamp down on the drill bit?]) |
78 | (item |
79 | [what would happen if the teeth tightened on the recessed |
80 | part of the drill bit?]))])) |
ff0f6a78 |
81 | (subsubsection |
7bf575b8 |
82 | :title [holding drill] |
83 | (p [hold the drill with one hand on the handle and trigger. |
84 | put the other hand on the orange nozzle, before the |
85 | black spinning part.])) |
c04a9631 |
86 | (subsubsection |
87 | :title [arduino placement] |
88 | (p [the arduino should be placed as shown in this picture.] |
cf59d996 |
89 | (figure :legend "arduino to deck / place arduino" |
6fc3d47b |
90 | (image :file "arduino-to-deck/3-place-arduino.png"))) |
91 | (p [here's a closeup] |
c1732375 |
92 | (figure :legend "arduino to deck / place arduino closeup" |
0b5cd84e |
93 | (image :file |
94 | "arduino-to-deck/4-place-arduino-closeup.png")) |
95 | [the picture above shows where to place the arduino on the deck. |
96 | the arduino should line up with the holes on the deck. |
97 | this alignment line is highlighted in pink. |
98 | on the arduino, there's a hole on the top left, between the |
99 | orange reset button and black headers. |
100 | the green circle shows where the hole is. |
101 | the blue box encloses the arduino hole and two deck holes. |
102 | place the arduino hole mid-way between the two |
543ad3c2 |
103 | deck holes.]) |
104 | (p [check |
105 | ,(itemize |
106 | (item |
107 | [should the arduino be upside-down?]) |
108 | (item |
109 | [what should the upper side of the arduino align with?]) |
110 | (item |
111 | [why not place the arduino up along the left side of the |
112 | robot?]))])) |
ff0f6a78 |
113 | (subsubsection |
41ba7302 |
114 | :title [drilling practice] |
115 | (p [strength check] |
116 | (itemize |
117 | (item [put on safety goggles]) |
118 | (item [unplug drill]) |
119 | (item [hold drill in one hand]) |
120 | (item [point drill at the ground]) |
121 | (item [point drill at the wall]))) |
122 | (p [steps for drilling into wood block] |
123 | (itemize |
124 | (item [plug in the drill]) |
125 | (item [place the drill bit in position]) |
126 | (item [bring the drill up to full speed, and keep it at full |
127 | speed while lowering and raising the drill]) |
128 | (item [push down until the drill bit has passed through an inch |
129 | of the wood block]) |
130 | (item [keep the drill at full speed]) |
131 | (item [stop before the drill smashes into the wood block]) |
132 | (item [keep the drill at full speed by holding the trigger]) |
133 | (item [bring the drill straight back up]) |
134 | (item [hold the trigger down to keep the drill at full speed]) |
135 | (item [once the drill is back out of the hole, let go of the |
136 | trigger]))) |
137 | (p [check |
138 | ,(itemize |
139 | (item |
140 | [should the drill be at full speed while the drill bit is |
141 | going down into the wood and coming back up?]) |
142 | (item |
143 | [how do you keep the drill at full speed?]) |
144 | (item |
145 | [what would happen if the drill bit were not at full |
146 | speed?]) |
147 | (item |
148 | [what would happen if the drill were twisted sideways while |
149 | the drill bit were in the wood?]))])) |
150 | (subsubsection |
7a744a6b |
151 | :title [drilling the first screw hole] |
41ba7302 |
152 | (itemize |
153 | (item [place the drill bit in position]) |
154 | (item [bring the drill up to full speed, and keep it full speed]) |
155 | (item [push down until the drill bit has passed through the |
156 | deck]) |
157 | (item [keep the drill at full speed]) |
158 | (item [stop before the drill smashes into the arduino]) |
159 | (item [keep the drill at full speed by holding the trigger]) |
160 | (item [bring the drill straight back up]) |
161 | (item [hold the trigger down to keep the drill at full speed]) |
162 | (item [once the drill is back out of the hole, let go of the |
163 | trigger])) |
8fe23b94 |
164 | (p [check |
165 | ,(itemize |
166 | (item |
167 | [should the drill be at full speed while the drill bit is |
168 | going down into the wood and coming back up?]) |
169 | (item |
170 | [what would happen if the drill bit were not at full |
171 | speed?]) |
172 | (item |
173 | [how do you keep the drill at full speed?]))]))) |
59fef212 |
174 | (subsection |
175 | :title [first screw] |
ff0f6a78 |
176 | (subsubsection |
9f651996 |
177 | :title [fastening arduino to deck using #6-32x3/8\" screw] |
178 | (p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is. |
179 | it is related to wire gauge. |
180 | bigger numbers mean larger screw. |
6e7c78dd |
181 | smaller numbers means smaller screws.] |
182 | (figure :legend "arduino to deck / #6-32 screw" |
183 | (image :file |
184 | "arduino-to-deck/6-32-screw.png"))) |
9f651996 |
185 | (p [check |
59fef212 |
186 | ,(itemize |
187 | (item |
9f651996 |
188 | [in the motor assembly, there are #4-40x1.25\" screws. |
189 | are those fatter, thinner, or the same thickness as the |
190 | #6-32x3/8\" screws?]))]) |
191 | (p [the "32" part is a measurement of how close the threads are to |
192 | each other. |
193 | this is related to the angle of the thread, which is also |
194 | called pitch. |
195 | it is a count of how many times the thread wraps around one |
196 | inch of the screw body.]) |
197 | (p [the head is the flat part where some tool, like the alan |
198 | wrench, can exert force to spin the screw.]) |
199 | (p [check |
59fef212 |
200 | ,(itemize |
9f651996 |
201 | (item [how many times will the thread wrap around one inch of |
202 | the screw body?]) |
203 | (item [what about 2 inches? |
204 | how many times will the thread wrap around two |
205 | inches of the screw body?]))])) |
ff0f6a78 |
206 | (subsubsection |
207 | :title [fasten the arduino board to the deck] |
208 | (p [push the 6-32 screw into the deck from the underside and at the |
209 | same time, spin the 6-32 screw clockwise while looking |
9f651996 |
210 | down on its head. |
211 | twist until the bottom of the screw is |
ff0f6a78 |
212 | about to stick out on the top side of the deck.]) |
213 | (p [hold the arduino board flat to the deck and line up the arduino |
9f651996 |
214 | hole so the screw can come up through it. |
215 | continue tightening the screw into the deck, spinning the same |
216 | direction as before. |
217 | tighten until the screw head touches the deck. |
218 | do not continue tightening after that.]) |
ff0f6a78 |
219 | (p [the arduino should still be flat against the deck still, just |
220 | as it was before tightening the screw.])) |
221 | (subsubsection |
222 | :title [assessment] |
223 | (p [does the arduino stay with the deck when the deck moves? |
224 | can the arduino board still rotate a few degrees? |
225 | warning, if you rotate the arduino board too much, you |
226 | will unscrew it from the deck and you'll have to screw it |
9f651996 |
227 | back in. |
228 | rotating a few degrees should be ok.])) |
ff0f6a78 |
229 | (subsubsection |
230 | :title [arduino board move relative to deck] |
231 | (p [without any screws, the arduino board can move independently of |
232 | the deck.]) |
233 | (p [with the first screw, the arduino can rotate around one point |
234 | on the deck.]))) |
24b6d750 |
235 | (subsection |
236 | :title [second hole and screw]) |
237 | (subsection |
238 | :title [third and fourth hole and screw])) |
57e11138 |
239 | (section |
240 | :title [breadboard]) |
3c0c7ca4 |
241 | (section |
390d8f01 |
242 | :title [battery packs] |
243 | (subsection |
244 | :title [leads]) |
245 | (subsection |
246 | :title [deck attachment])) |
3c0c7ca4 |
247 | (section |
5aa69c47 |
248 | :title [motors] |
249 | (subsection |
250 | :title [leads]) |
251 | (subsection |
252 | :title [mount]) |
253 | (subsection |
254 | :title [deck attachment])) |
3c0c7ca4 |
255 | (section |
1b593ec7 |
256 | :title [wheels] |
257 | (subsection |
258 | :title [tread]) |
259 | (subsection |
260 | :title [motor])) |
3c0c7ca4 |
261 | (section |
2ccf4ca9 |
262 | :title [caster] |
263 | (subsection |
264 | :title [deck placement])) |
3c0c7ca4 |
265 | (section |
6550a556 |
266 | :title [sonars] |
267 | (subsection |
268 | :title [deck placement]))) |
3c0c7ca4 |
269 | (chapter |
9fb37473 |
270 | :title [wiring and software] |
271 | (section |
f0876d62 |
272 | :title [serial] |
273 | (subsection |
1be43d04 |
274 | :title [software on computer] |
c3e8314c |
275 | (subsubsection |
1be43d04 |
276 | :title [arduino]) |
c3e8314c |
277 | (subsubsection |
1be43d04 |
278 | :title [fritzing])) |
f0876d62 |
279 | (subsection |
280 | :title [attach arduino and computer via cable]) |
281 | (subsection |
282 | :title [debugging common connection problems]) |
283 | (subsection |
284 | :title [arduino reset button])) |
9fb37473 |
285 | (section |
bb801164 |
286 | :title [left sonar] |
287 | (subsection |
288 | :title [breadboard connectivity]) |
289 | (subsection |
290 | :title [cable]) |
291 | (subsection |
cb7d1c68 |
292 | :title [arduino headers]) |
293 | (subsection |
294 | :title [sound cm per microsecond at sea level])) |
9fb37473 |
295 | (section |
9183d52b |
296 | :title [both sonars] |
297 | (subsection |
298 | :title [breadboard power rail] |
299 | (p [power rail can provide power to more than one device.]))) |
9fb37473 |
300 | (section |
805d6362 |
301 | :title [left motor] |
302 | (subsection |
303 | :title [arduino digital output]) |
304 | (subsection |
305 | :title [quad half h bridge, aka motor controller]) |
306 | (subsection |
307 | :title [motor battery])) |
9fb37473 |
308 | (section |
79d761bc |
309 | :title [both motors] |
310 | (subsection |
311 | :title [analogWrite])) |
9fb37473 |
312 | (section |
aedd9003 |
313 | :title [untethered] |
314 | (subsection |
315 | :title [arduino battery]) |
316 | (subsection |
317 | :title [off and on functions])) |
9fb37473 |
318 | (section |
28a2365e |
319 | :title [follow] |
320 | (subsection |
321 | :title [same wiring as untethered]) |
322 | (subsection |
323 | :title [set motor]) |
324 | (subsection |
325 | :title [go]) |
326 | (subsection |
327 | :title [determining speed])) |
9fb37473 |
328 | (section |
d460f45c |
329 | :title [stay on table] |
330 | (subsection |
331 | :title [stop]) |
332 | (subsection |
333 | :title [backup]) |
334 | (subsection |
335 | :title [turn around])))) |
37d286e7 |
336 | |
337 | ;; Copyright 2016 daniel watson |
338 | |
339 | ;; This file is part of challenge-bot. |
340 | |
341 | ;; challenge-bot is free software: you can redistribute it and/or modify |
342 | ;; it under the terms of the GNU Affero General Public License as |
343 | ;; published by the Free Software Foundation, either version 3 of the |
344 | ;; License, or (at your option) any later version. |
345 | |
346 | ;; challenge-bot is distributed in the hope that it will be useful, |
347 | ;; but WITHOUT ANY WARRANTY; without even the implied warranty of |
348 | ;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
349 | ;; GNU Affero General Public License for more details. |
350 | |
351 | ;; You should have received a copy of the GNU Affero General Public |
352 | ;; License along with challenge-bot. If not, see |
353 | ;; <http://www.gnu.org/licenses/>. |