| 1 | ;; tldr; AGPLv3+ |
| 2 | ;; copyright info at bottom |
| 3 | |
| 4 | (document |
| 5 | :title [challenge-bot] |
| 6 | (toc) |
| 7 | (chapter |
| 8 | :title [mechanical] |
| 9 | :number "0" |
| 10 | (p [let's build your robot!]) |
| 11 | (section |
| 12 | :title [arduino to deck] |
| 13 | :number "0" |
| 14 | (p [let's attach the arduino to the deck.]) |
| 15 | (subsection |
| 16 | :title [required materials] |
| 17 | (p [you will need the things in this picture.]) |
| 18 | (figure |
| 19 | :legend "arduino to deck / required materials" |
| 20 | (image :file |
| 21 | "0-arduino-to-deck/0-required-materials.png")) |
| 22 | (itemize |
| 23 | (item [medical kit with bandages]) |
| 24 | (item [safety goggles]) |
| 25 | (item [drill bit \(we will determine size in a moment\)]) |
| 26 | (item [drill]) |
| 27 | (item [alan wrench]) |
| 28 | (item [wood block]) |
| 29 | (item [arduino]) |
| 30 | (item [#6-32x3/8\", four of them]) |
| 31 | (item [robot deck, the white thing with a grid of holes]))) |
| 32 | (subsection |
| 33 | :title [first hole] |
| 34 | (subsubsection |
| 35 | :title [choosing drill bit] |
| 36 | (p [the arduino comes with holes in it already, so we will make |
| 37 | some choices around those holes. |
| 38 | choosing the right drill bit depends on what job you are |
| 39 | doing. |
| 40 | right now, we are making holes for screws to hold the |
| 41 | arduino to the deck. |
| 42 | there are two constraints between the hole and screw. |
| 43 | each hole needs to be big enough for the screw body to fit |
| 44 | through it. |
| 45 | the holes also need to be smaller than the screw's thread. |
| 46 | since there are holes on the arduino already, the screw was |
| 47 | chosen to match it. |
| 48 | the screw was chosen so that the hole on the arduino was |
| 49 | bigger than the screw body and smaller than its thread. |
| 50 | we will choose the biggest drill bit that fits through the |
| 51 | hole on the arduino, then use that to drill holes in the |
| 52 | deck.]) |
| 53 | (p [here's a cross section of a screw in the deck]) |
| 54 | (figure :legend "screw cross section" |
| 55 | (image :file |
| 56 | "0-arduino-to-deck/screw-cross-section.png")) |
| 57 | (p [check]) |
| 58 | (enumerate |
| 59 | (item |
| 60 | [what would happen if the drill bit were larger than the |
| 61 | screw thread?]) |
| 62 | (item |
| 63 | [what would happen if the drill bit were smaller than the |
| 64 | screw body?]))) |
| 65 | (subsubsection |
| 66 | :title [inserting drill bit] |
| 67 | (figure :legend "arduino to deck / insert bit" |
| 68 | (image :file "0-arduino-to-deck/1-insert-bit.png")) |
| 69 | (p [insert the drill bit into the teeth of the drill. |
| 70 | insert it far enough that the teeth will clamp on the |
| 71 | smooth part of the bit when they are tightened.]) |
| 72 | (figure |
| 73 | :legend "arduino to deck / twist tighten drill teeth" |
| 74 | (image |
| 75 | :file "0-arduino-to-deck/2-twist-tighten-drill-teeth.png")) |
| 76 | (p [while holding the drill bit, twist end of the drill to tighten |
| 77 | the teeth. |
| 78 | make sure that the teeth end up gripping the flat part of |
| 79 | the drill bit.]) |
| 80 | (p [check]) |
| 81 | (enumerate |
| 82 | (item |
| 83 | [where should the teeth clamp down on the drill bit?]) |
| 84 | (item |
| 85 | [what would happen if the teeth tightened on the recessed |
| 86 | part of the drill bit?]))) |
| 87 | (subsubsection |
| 88 | :title [holding drill] |
| 89 | (p [hold the drill with one hand on the handle and trigger. |
| 90 | put the other hand on the orange nozzle, before the |
| 91 | black spinning part.])) |
| 92 | (subsubsection |
| 93 | :title [arduino placement] |
| 94 | (p [the arduino should be placed as shown in this picture.]) |
| 95 | (figure :legend "arduino to deck / place arduino" |
| 96 | (image :file "0-arduino-to-deck/3-place-arduino.png")) |
| 97 | (p [here's a closeup]) |
| 98 | (figure :legend "arduino to deck / place arduino closeup" |
| 99 | (image :file |
| 100 | "0-arduino-to-deck/4-place-arduino-closeup.png")) |
| 101 | (p [the picture above shows where to place the arduino on the deck. |
| 102 | the arduino should line up with the holes on the deck. |
| 103 | this alignment line is highlighted in pink. |
| 104 | on the arduino, there's a hole on the top left, between the |
| 105 | orange reset button and black headers. |
| 106 | the green circle shows where the hole is. |
| 107 | the blue box encloses the arduino hole and two deck holes. |
| 108 | place the arduino hole mid-way between the two |
| 109 | deck holes.]) |
| 110 | (p [check]) |
| 111 | (enumerate |
| 112 | (item |
| 113 | [should the arduino be upside-down?]) |
| 114 | (item |
| 115 | [what should the upper side of the arduino align with?]) |
| 116 | (item |
| 117 | [why not place the arduino up along the left side of the |
| 118 | robot?]))) |
| 119 | (subsubsection |
| 120 | :title [drilling practice] |
| 121 | (p [strength check]) |
| 122 | (itemize |
| 123 | (item [put on safety goggles]) |
| 124 | (item [unplug drill]) |
| 125 | (item [hold drill in one hand]) |
| 126 | (item [point drill at the ground]) |
| 127 | (item [point drill at the wall])) |
| 128 | (p [steps for drilling into wood block]) |
| 129 | (itemize |
| 130 | (item [plug in the drill]) |
| 131 | (item [place the drill bit in position]) |
| 132 | (item [bring the drill up to full speed, and keep it at full |
| 133 | speed while lowering and raising the drill]) |
| 134 | (item [push down until the drill bit has passed through an inch |
| 135 | of the wood block]) |
| 136 | (item [keep the drill at full speed]) |
| 137 | (item [stop before the drill smashes into the wood block]) |
| 138 | (item [keep the drill at full speed by holding the trigger]) |
| 139 | (item [bring the drill straight back up]) |
| 140 | (item [hold the trigger down to keep the drill at full speed]) |
| 141 | (item [once the drill is back out of the hole, let go of the |
| 142 | trigger])) |
| 143 | (p [check]) |
| 144 | (enumerate |
| 145 | (item |
| 146 | [should the drill be at full speed while the drill bit is |
| 147 | going down into the wood and coming back up?]) |
| 148 | (item |
| 149 | [how do you keep the drill at full speed?]) |
| 150 | (item |
| 151 | [what would happen if the drill bit were not at full |
| 152 | speed?]) |
| 153 | (item |
| 154 | [what would happen if the drill were twisted sideways while |
| 155 | the drill bit were in the wood?]))) |
| 156 | (subsubsection |
| 157 | :title [drilling the first screw hole] |
| 158 | (itemize |
| 159 | (item [place the drill bit in position]) |
| 160 | (item [bring the drill up to full speed, and keep it full speed]) |
| 161 | (item [push down until the drill bit has passed through the |
| 162 | deck]) |
| 163 | (item [keep the drill at full speed]) |
| 164 | (item [stop before the drill smashes into the arduino]) |
| 165 | (item [keep the drill at full speed by holding the trigger]) |
| 166 | (item [bring the drill straight back up]) |
| 167 | (item [hold the trigger down to keep the drill at full speed]) |
| 168 | (item [once the drill is back out of the hole, let go of the |
| 169 | trigger])) |
| 170 | (p [check]) |
| 171 | (enumerate |
| 172 | (item |
| 173 | [should the drill be at full speed while the drill bit is |
| 174 | going down into the wood and coming back up?]) |
| 175 | (item |
| 176 | [what would happen if the drill bit were not at full speed?]) |
| 177 | (item [how do you keep the drill at full speed?])))) |
| 178 | (subsection |
| 179 | :title [first screw] |
| 180 | (subsubsection |
| 181 | :title [fastening arduino to deck using #6-32x3/8\" screw] |
| 182 | (p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is. |
| 183 | it is related to wire gauge. |
| 184 | bigger numbers mean larger screws. |
| 185 | smaller numbers means smaller screws.]) |
| 186 | (figure :legend "arduino to deck / #6-32 screw" |
| 187 | (image :file "0-arduino-to-deck/6-32-screw.png")) |
| 188 | (p [check]) |
| 189 | (enumerate |
| 190 | (item |
| 191 | [in the motor assembly, there are #4-40x1.25\" screws. |
| 192 | are those fatter, thinner, or the same thickness as the |
| 193 | #6-32x3/8\" screws?])) |
| 194 | (p [the "32" part of "#6-32x3/8\"" is a measurement of how close |
| 195 | the threads are to each other. |
| 196 | this is related to the angle of the thread, which is also |
| 197 | called pitch. |
| 198 | it is a count of how many times the thread wraps around one |
| 199 | inch of the screw body.]) |
| 200 | (p [the head is the flat part where some tool, like the alan |
| 201 | wrench, can exert force to spin the screw.]) |
| 202 | (p [check]) |
| 203 | (enumerate |
| 204 | (item [how many times will the thread wrap around one inch of |
| 205 | the screw body?]) |
| 206 | (item [what about 2 inches? |
| 207 | how many times will the thread wrap around two |
| 208 | inches of the screw body?]) |
| 209 | (item [where can a tool exert turning force on the screw?]))) |
| 210 | (subsubsection |
| 211 | :title [fasten the arduino board to the deck] |
| 212 | (p [first we'll put the screw into the deck just enough so the deck |
| 213 | holds it in place. |
| 214 | then we will hold the arduino up to the screw and finish |
| 215 | tightening the screw down. |
| 216 | with the screw partially in, we do not have hold it as |
| 217 | rigidly while we are also holding the arduino and |
| 218 | the deck.]) |
| 219 | (p [push the #6-32 screw into the deck from the underside. |
| 220 | the underside is the brown side. |
| 221 | at the same time, spin the 6-32 screw so it rotates |
| 222 | clockwise while looking down on its head. |
| 223 | twist until the tip of the screw is about to stick out on |
| 224 | the top side of the deck.]) |
| 225 | (p [hold the arduino board flat to the deck and line up the arduino |
| 226 | hole so the screw can come up through it. |
| 227 | continue tightening the screw into the deck, spinning the |
| 228 | same direction as before. |
| 229 | tighten until the screw head touches the deck. |
| 230 | do not continue tightening after that.]) |
| 231 | (p [the arduino should still be flat against the deck still, just |
| 232 | as it was before tightening the screw.]) |
| 233 | (p [check]) |
| 234 | (enumerate |
| 235 | (item [why do we insert the first screw partially before |
| 236 | holding up the arduino?]) |
| 237 | (item [which side of the deck is the top side?]))) |
| 238 | (subsubsection |
| 239 | :title [assessment of the first screw] |
| 240 | (itemize |
| 241 | (item [,(bold [warning]), if you rotate the arduino board too |
| 242 | much,you will unscrew it from the deck and you'll have to |
| 243 | screw it back in. |
| 244 | rotating a few degrees should be ok.]) |
| 245 | (item [does the arduino stay with the deck when the deck moves?]) |
| 246 | (item [can the arduino board still rotate a few degrees?])))) |
| 247 | (subsection |
| 248 | :title [second hole and screw] |
| 249 | (subsubsection |
| 250 | :title [arduino board move relative to deck] |
| 251 | (p [without any screws, the arduino board can move independently of |
| 252 | the deck. |
| 253 | it can translate and rotate freely. |
| 254 | with the first screw, the arduino can rotate around one |
| 255 | point on the deck and can no longer translate much.]) |
| 256 | (p [the second screw limits rotation a lot. |
| 257 | it also makes translation even more difficult. |
| 258 | it might even be too small to be detectable by directly |
| 259 | looking at it.]) |
| 260 | (p [to choose where the second hole and screw should go, we should |
| 261 | keep in mind that the goal is to attach the deck to the |
| 262 | arduino. |
| 263 | this means minimizing rotation and translation. |
| 264 | the picture below shows that the second hole should be as |
| 265 | far as possible from the first hole, since that minimizes |
| 266 | rotation.]) |
| 267 | (figure |
| 268 | :legend "arduino to deck / keep holes far apart" |
| 269 | (image |
| 270 | :file "0-arduino-to-deck/keep-holes-far-apart.png"))) |
| 271 | (subsubsection |
| 272 | :title [drilling and attaching second screw] |
| 273 | (p [to drill the second hole, follow the same steps as drilling the |
| 274 | first hole. |
| 275 | hold the arduino down as before, and drill through the hole |
| 276 | furthest away from the first hole. |
| 277 | then insert and tighten the screw as before.]))) |
| 278 | (subsection |
| 279 | :title [third and fourth hole and screw] |
| 280 | (p [even though the arduino is pretty well attached with just 2 |
| 281 | screws, we will add a third and fourth. |
| 282 | this gives practice drilling and tightening screws. |
| 283 | it also keeps the arduino fixed even more rigidly.])) |
| 284 | (subsection |
| 285 | :title [assessment of arduino deck attachment] |
| 286 | (itemize |
| 287 | (item [you should now be able to grab the deck and shake it. |
| 288 | the arduino should stay firmly in place while you do.]) |
| 289 | (item [the arduino should be close to but not touching an edge.]) |
| 290 | (item [there should be no warping on the arduino. |
| 291 | this could happen if the screws are too tight.])))) |
| 292 | (section |
| 293 | :title [battery packs] |
| 294 | (subsection |
| 295 | :title [leads] |
| 296 | (subsubsection |
| 297 | :title [strip] |
| 298 | (p ["leads" are the wires coming out of the battery pack. |
| 299 | prepare the leads of the batteries by stripping them and |
| 300 | placing heat shrink on them. |
| 301 | your battery packs are not attached to your deck yet, |
| 302 | but that will be the next step.]) |
| 303 | (figure :legend "batteries / prepare leads / stripping" |
| 304 | (video |
| 305 | :file "2-batteries/0-prepare-leads/0-strip.ogv")) |
| 306 | (enumerate |
| 307 | (item (bold [do not pick up batteries by their leads!])) |
| 308 | (item [strip the leads a tiny bit at a time. |
| 309 | keep stripping until a total of an inch is stripped. |
| 310 | the leads are made of tons of tiny wires that will |
| 311 | tear apart if too much insulation is stripped at |
| 312 | once. |
| 313 | wire made of a bunch of tiny wires |
| 314 | is "stranded wire".]) |
| 315 | (item [strip both leads of both batteries.]) |
| 316 | (item [then place heat shrink on every lead. |
| 317 | make sure the heat shrink is either clear or matches |
| 318 | the color of the lead.])) |
| 319 | (p [check]) |
| 320 | (enumerate |
| 321 | (item [should you pick up a battery by its leads?]) |
| 322 | (item [should you strip the leads a large amount at a time?]) |
| 323 | (item [what's the name of wires made of a bunch of tiny |
| 324 | wires?]))) |
| 325 | (subsubsection |
| 326 | :title [wrap] |
| 327 | (p [do the next 2 sections with just one lead at a time. |
| 328 | wrap, then solder one battery lead before moving on to the |
| 329 | next. |
| 330 | wrap the stranded wire around a solid core wire, as shown |
| 331 | in this video.]) |
| 332 | (figure :legend "batteries / prepare leads / wrap" |
| 333 | (video |
| 334 | :file "2-batteries/0-prepare-leads/1-wrap.ogv")) |
| 335 | (p [the solid core wire is the stiff short wire. |
| 336 | it is much easier to poke into the breadboard.]) |
| 337 | (p [check]) |
| 338 | (enumerate |
| 339 | (item [why are we using a solid core wire?]))) |
| 340 | (subsubsection |
| 341 | :title [solder] |
| 342 | (p [do this next section and the previous with just one lead at a |
| 343 | time. |
| 344 | solder the stranded wire and solid core wire, as shown |
| 345 | in this video.]) |
| 346 | (figure :legend "batteries / prepare leads / solder" |
| 347 | (video |
| 348 | :file "2-batteries/0-prepare-leads/2-solder.ogv")) |
| 349 | (p [soldering is the process of joining 2 metal things with |
| 350 | solder.]) |
| 351 | (enumerate |
| 352 | (item [use the helping hands to grab the wires and hold them in |
| 353 | place.]) |
| 354 | (item [clean off the tip of the soldering iron if it has been |
| 355 | sitting still for a while. |
| 356 | this cleans off corroded metal.]) |
| 357 | (item [apply some solder directly to the tip of the soldering |
| 358 | iron. |
| 359 | this creates a pool of solder on the tip. |
| 360 | we will use this to transfer heat to the wires.]) |
| 361 | (item [put the soldering iron up to the wires. |
| 362 | we want the wires to be hot enough to melt the |
| 363 | solder. |
| 364 | at the same time, poke the solder into the wire. |
| 365 | the solder will start melting and quickly spread to |
| 366 | hot parts of the wire. |
| 367 | there will be smoke.]) |
| 368 | (item [move the solder away, then move the iron away.])) |
| 369 | (p [check]) |
| 370 | (enumerate |
| 371 | (item [should the wires melt the solder?]) |
| 372 | (item [why should we clean off the tip of the soldering iron?]) |
| 373 | (item [why do we put more solder back on the tip of the iron?]))))) |
| 374 | (section |
| 375 | :title [motors] |
| 376 | (subsection |
| 377 | :title [leads] |
| 378 | (p [attach leads to the motors to supply the motor with power.]) |
| 379 | (figure |
| 380 | :legend "motors / leads" |
| 381 | (video |
| 382 | :file "3-motor-assemblies/0-leads.ogv")) |
| 383 | (enumerate |
| 384 | (item [strip both the green and yellow wire on both ends. |
| 385 | strip one side only 1/8 inch. |
| 386 | strip the other side about 1/4 inch.]) |
| 387 | (item [use the end of the wire stripper to bend a hook in the wire. |
| 388 | make this hook on the side of the wire with a smaller |
| 389 | exposed section.]) |
| 390 | (item [do not bend the wire so that the exposed wire runs alongside |
| 391 | the sheath.]) |
| 392 | (item [put the hooks through the tabs on the motor. |
| 393 | make sure to place the green and yellow wire on the |
| 394 | correct side of the motor. |
| 395 | match the side of the motor that already has wires |
| 396 | attached. |
| 397 | wrap the rest of the wire around the motor in order to |
| 398 | keep the wire from falling off.]) |
| 399 | (item [once the wire is in place, wrap solder around the motor tab |
| 400 | and wire. |
| 401 | heat up the solder, motor tab and wire with the |
| 402 | soldering iron.]) |
| 403 | (item [test the solder joint with the 9v battery. |
| 404 | touch the battery leads to the motor leads. |
| 405 | make sure the 9v battery is on. |
| 406 | if the motor moves, the solder joint is good!]) |
| 407 | (item [get section of electrical tape, roughly 100mm |
| 408 | (about 4 inches). |
| 409 | slide the middle of the tape under the wires. |
| 410 | this tape will keep the solder joints away from the |
| 411 | metal band around the motor.]) |
| 412 | (item [the zip tie will hold the wires to the motor. |
| 413 | wrap the zip tie on the round part of the motor where |
| 414 | it meets the square portion of the motor. |
| 415 | this will provide mechanical support for the solder |
| 416 | joints. |
| 417 | once the zip tie is wrapped, use wire strippers to cut |
| 418 | off the excess zip tie.]) |
| 419 | (item [cover the solder joint with hot glue. |
| 420 | this will further keep the solder joints from corroding |
| 421 | in the air's moisture. |
| 422 | it will also keep the joint safe from anything poking |
| 423 | in.])) |
| 424 | (p [check]) |
| 425 | (enumerate |
| 426 | (item [should the electrical tape go between the wires and the |
| 427 | metal band?]) |
| 428 | (item [are the motor tabs strong?]) |
| 429 | (item [what are we doing to reinforce the motor tabs mechanically?]) |
| 430 | (item [does hot glue make an electrical connection?]))) |
| 431 | (subsection |
| 432 | :title [motor mount] |
| 433 | (p [now let's attach the motor mount to the motor.]) |
| 434 | (subsubsection |
| 435 | :title [angle bracket to motor mount] |
| 436 | (p [first, attach the angle brackets to the motor mounts with |
| 437 | #6-32x3/8 inch screws.]) |
| 438 | (figure |
| 439 | :legend "motors / mount / angle bracket" |
| 440 | (video |
| 441 | :file "3-motor-assemblies/1-motor-mount/0-angle-brackets.ogv")) |
| 442 | (p [if you cover up 2 of the holes on the motor mount, the |
| 443 | remaining holes look like a surprised face. |
| 444 | these are the holes to attach the angle brackets. |
| 445 | make sure the angle brackets on one motor mount are attached |
| 446 | in a mirror image to the other.]) |
| 447 | (p [check]) |
| 448 | (enumerate |
| 449 | (item [should the motor mounts have angle brackets attached in |
| 450 | a mirror image fashion?]) |
| 451 | (item [why should the motor mounts have angle brackets attached in |
| 452 | a mirror image fashion?]))) |
| 453 | (subsubsection |
| 454 | :title [motor mount to motor] |
| 455 | (p [now attach the motor mount with angle brackets to the motor.]) |
| 456 | (figure |
| 457 | :legend "motor / mount / mount to motor" |
| 458 | (video |
| 459 | :file |
| 460 | "3-motor-assemblies/1-motor-mount/1-motor-mount-to-motor.ogv")) |
| 461 | (p [we will attach the motor mount to the motor using #4 bolts. |
| 462 | these screws are thinner than the #6 bolts we have used. |
| 463 | to clamp down on the motor, we will use a #4 nut. |
| 464 | the white side of the nut should face outward. |
| 465 | this section of the nut will keep the nut from jiggling |
| 466 | loose off the bolt during normal operation. |
| 467 | the head of the #4 bolt is a philips head, so we will |
| 468 | use a philips head driver for it.]) |
| 469 | (p [check]) |
| 470 | (enumerate |
| 471 | (item [is the #4 bolt thicker or thinner than the #6?]) |
| 472 | (item [do you have a ratcheting socket wrench, or not?])))) |
| 473 | (subsection |
| 474 | :title [deck attachment] |
| 475 | (p [now that the motor assemblies are together, we will attach them |
| 476 | to the deck.]) |
| 477 | (figure |
| 478 | :legend "motor / motor assembly to deck" |
| 479 | (video |
| 480 | :file "3-motor-assemblies/2-motor-assembly-to-deck.ogv")) |
| 481 | (p [when attaching the motor assembly to the deck, be sure to push |
| 482 | the assembly as far outward from the center of the robot |
| 483 | as you can while tightening it down. |
| 484 | this will give more clearance to the wheels of the robot |
| 485 | so they do not rub the deck.]))) |
| 486 | (section |
| 487 | :title [breadboard] |
| 488 | (p [next, let's attach other parts to the deck. |
| 489 | we'll start with the breadboard. |
| 490 | there are many ways to do this, but one handy approach is |
| 491 | glue dots. |
| 492 | glue dots can be placed easily, are good at attaching flat |
| 493 | surfaces that directly touch and do not get much stress.]) |
| 494 | (figure :legend "breadboard to deck / required materials" |
| 495 | (image |
| 496 | :file "1-breadboard-to-deck/0-required-materials.png")) |
| 497 | (p [for this section, we will need the deck with arduino attached, |
| 498 | breadboard, and glue dots.]) |
| 499 | (figure :legend "breadboard to deck / video" |
| 500 | (video |
| 501 | :file "1-breadboard-to-deck/0-breadboard-to-deck.ogv")) |
| 502 | (enumerate |
| 503 | (item [take your breadboard out of its bag.]) |
| 504 | (item [peel the backing.]) |
| 505 | (item [put the shiny medal plate on the back.]) |
| 506 | (item [break 4 glue dots away from the rest. put the rest back |
| 507 | into the bag.]) |
| 508 | (item [break off a glue dot from the group of 4, and peel away the |
| 509 | backing, exposing a sticky side.]) |
| 510 | (item [put the glue dot on one corner of the shiny side of the |
| 511 | breadboard. |
| 512 | make sure to push it down firmly.]) |
| 513 | (item [repeat for the other corners.]) |
| 514 | (item [put the breadboard on the center of the deck. |
| 515 | position it so the black chip is on the right, and the |
| 516 | blue line is up against the arduino.]) |
| 517 | (item [press firmly in each of the corners.])) |
| 518 | (p [check]) |
| 519 | (enumerate |
| 520 | (item [should the black chip be on the right or the left?]) |
| 521 | (item [how many glue dots should be on the breadboard?]))) |
| 522 | (section |
| 523 | :title [deck attachment] |
| 524 | (subsection |
| 525 | :title [motor battery pack attachment] |
| 526 | (p [attach the motor battery pack to the robot deck.]) |
| 527 | (figure |
| 528 | :legend "batteries / placement / motor pack" |
| 529 | (video |
| 530 | :file "2-batteries/1-placement/0-motor-battery-pack.ogv")) |
| 531 | (p [we will use glue dots to attach the motor battery pack to the |
| 532 | deck. |
| 533 | the pack could be placed anywhere, but we will place it |
| 534 | in the lower left side of the robot. |
| 535 | this battery pack has 4 AA batteries in it. |
| 536 | each battery has 1.5 volts difference between the positive |
| 537 | and negative side. |
| 538 | the batteries are connected in series. |
| 539 | the total voltage difference for the whole battery pack is |
| 540 | the sum of the individual voltages, which is 6 volts.]) |
| 541 | (enumerate |
| 542 | (item [make sure you are placing dots on the side of the battery |
| 543 | pack without the on/off switch.]) |
| 544 | (item [peel off a glue dot for each of the corners of the |
| 545 | battery pack.]) |
| 546 | (item [when placing the battery pack, make sure the screw hole |
| 547 | aligns with a hole on the deck.])) |
| 548 | (p [check]) |
| 549 | (enumerate |
| 550 | (item [why place the glue dots on the side of the battery pack |
| 551 | without the on/off switch?]))) |
| 552 | (subsection |
| 553 | :title [arduino battery pack attachment] |
| 554 | (p [attach the arduino battery pack to the robot deck.]) |
| 555 | (figure |
| 556 | :legend "batteries / placement / arduino pack" |
| 557 | (video |
| 558 | :file "2-batteries/1-placement/1-arduino-battery-pack.ogv")) |
| 559 | (p [next, we will attach the arduino battery pack to the deck. |
| 560 | again, the pack could be placed anywhere, but we will |
| 561 | place it in the lower right side of the robot.]) |
| 562 | (enumerate |
| 563 | (item [make sure you are placing dots on the side of the battery |
| 564 | pack without the on/off switch, just as before.]) |
| 565 | (item [peel off a glue dot for each end of the pack.]) |
| 566 | (item [when placing the battery pack, make sure the screw hole |
| 567 | aligns with a hole on the deck.])) |
| 568 | (p [check]) |
| 569 | (enumerate |
| 570 | (item [why align the screw with a hole on the deck?])))) |
| 571 | (section |
| 572 | :title [caster] |
| 573 | (p [the caster will go at the back of the robot and provide a third |
| 574 | point of contact for the robot, making it easier for it to |
| 575 | balance.]) |
| 576 | (figure |
| 577 | :legend "caster" |
| 578 | (video :file "4-caster-to-deck.ogv")) |
| 579 | (p [check]) |
| 580 | (enumerate |
| 581 | (item [what would happen if the robot did not have a caster?]))) |
| 582 | (section |
| 583 | :title [wheels] |
| 584 | (p [now we will attach the wheels. |
| 585 | this makes the motor movement transform into robot movement!]) |
| 586 | (figure |
| 587 | :legend "wheel" |
| 588 | (video :file "5-wheel-to-robot-assembly.ogv")) |
| 589 | (p [check]) |
| 590 | (enumerate |
| 591 | (item [does the robot's wheels scrape the deck?]) |
| 592 | (item [what would happen if the robot had no wheels?]) |
| 593 | (item [what does the tread do?]) |
| 594 | (item [what is the tread?]) |
| 595 | (item [what kind of screw is used?]))) |
| 596 | (section |
| 597 | :title [sonars] |
| 598 | (p [we are almost done with mechanical assembly! |
| 599 | this next step is to add the sonar sensors to the robot. |
| 600 | sonar sensors are what the robot uses to detect distances. |
| 601 | it sends out a signal, then listens for a response and |
| 602 | keeps track of how long it takes.]) |
| 603 | (figure |
| 604 | :legend "sonar sensors" |
| 605 | (video :file "6-sonar-sensors-to-deck.ogv")) |
| 606 | (p [check]) |
| 607 | (enumerate |
| 608 | (item [are your sonar sensors pointy pins facing in toward the |
| 609 | arduino?]) |
| 610 | (item [was it difficult to get the sonar into the holder?]) |
| 611 | (item [what would happen if it was easy to slip the sonar sensor |
| 612 | into the sonar holder?])))) |
| 613 | (chapter |
| 614 | :title [wiring and software] |
| 615 | (section |
| 616 | :title [serial] |
| 617 | :number "0" |
| 618 | (subsection |
| 619 | :title [software on computer] |
| 620 | (subsubsection |
| 621 | :title [arduino]) |
| 622 | (subsubsection |
| 623 | :title [fritzing])) |
| 624 | (subsection |
| 625 | :title [attach arduino and computer via cable]) |
| 626 | (subsection |
| 627 | :title [debugging common connection problems]) |
| 628 | (subsection |
| 629 | :title [arduino reset button])) |
| 630 | (section |
| 631 | :title [left sonar] |
| 632 | (subsection |
| 633 | :title [breadboard connectivity]) |
| 634 | (subsection |
| 635 | :title [cable]) |
| 636 | (subsection |
| 637 | :title [arduino headers]) |
| 638 | (subsection |
| 639 | :title [sound cm per microsecond at sea level])) |
| 640 | (section |
| 641 | :title [both sonars] |
| 642 | (subsection |
| 643 | :title [breadboard power rail] |
| 644 | (p [power rail can provide power to more than one device.]))) |
| 645 | (section |
| 646 | :title [left motor] |
| 647 | (subsection |
| 648 | :title [arduino digital output]) |
| 649 | (subsection |
| 650 | :title [quad half h bridge, aka motor controller]) |
| 651 | (subsection |
| 652 | :title [motor battery])) |
| 653 | (section |
| 654 | :title [both motors] |
| 655 | (subsection |
| 656 | :title [analogWrite])) |
| 657 | (section |
| 658 | :title [untethered] |
| 659 | (subsection |
| 660 | :title [arduino battery]) |
| 661 | (subsection |
| 662 | :title [off and on functions])) |
| 663 | (section |
| 664 | :title [follow] |
| 665 | (subsection |
| 666 | :title [same wiring as untethered]) |
| 667 | (subsection |
| 668 | :title [set motor]) |
| 669 | (subsection |
| 670 | :title [go]) |
| 671 | (subsection |
| 672 | :title [determining speed])) |
| 673 | (section |
| 674 | :title [stay on table] |
| 675 | (subsection |
| 676 | :title [stop]) |
| 677 | (subsection |
| 678 | :title [backup]) |
| 679 | (subsection |
| 680 | :title [turn around])))) |
| 681 | |
| 682 | ;; Copyright 2016 daniel watson |
| 683 | |
| 684 | ;; This file is part of challenge-bot. |
| 685 | |
| 686 | ;; challenge-bot is free software: you can redistribute it and/or modify |
| 687 | ;; it under the terms of the GNU Affero General Public License as |
| 688 | ;; published by the Free Software Foundation, either version 3 of the |
| 689 | ;; License, or (at your option) any later version. |
| 690 | |
| 691 | ;; challenge-bot is distributed in the hope that it will be useful, |
| 692 | ;; but WITHOUT ANY WARRANTY; without even the implied warranty of |
| 693 | ;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 694 | ;; GNU Affero General Public License for more details. |
| 695 | |
| 696 | ;; You should have received a copy of the GNU Affero General Public |
| 697 | ;; License along with challenge-bot. If not, see |
| 698 | ;; <http://www.gnu.org/licenses/>. |