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-### Phase 2: Build TableTop Challenge Phase 1
-
-Goals:
-
-* Cut out two pieces of Peg Board
-* Drill mounting holes for sonar module
-* Crimp connectors to cable
-* Mount Sonar modules to Robot base
-* Plug Sonar modules into breadboard + Arduino
-* Develop table top challenge code
-
-Bill of Materials:
-
-* 1  ?in x ?in peg board sonar holders
-* 2  Sonar sensors (EBay: HC-SR04 ~$4/2)
-* 4  2x8 .1in Female IDC connectors
-* 2  12in 8 conductor ribbon cable
-* 2  1x4 .1in Male-to-Male Headers
-* 4  #4-40 Phillips Pan Head Screws
-* 8  #4-40 Hex nuts
-* 4  #4 Washers
-* 4  #4 internal tooth lock washers
-* 2  #6-32 Phillips Pan Head Screws
-* 2  #6-32 Hex Nuts
-* 4  #6 Washers
-* 2  #6 internal tool lock washers
-* 1  18" of twine (for a Wyland leash)
-
-Additional Required Tools:
-
-* 1  Benchtop vice
-
-That provides the basic configuration.
-
-## Rechargable Battery Upgrade
-
-This gets rid of the hassle of buying and throwing
-away AA batteries.
-
-Bill of Materials:
-
-* 2  7.2V 1300mAh LiPo Battery Packs (Trossen: BAT-7V1300M: $26/2)
-* 1  LiPo Battery Charger (Trossen: KIT-CHG-LIPO: ($16+$11)/1)
-* 2  Female Deans Connector (TBD)
-* 1  DPDT Power Switch (TBD)
-
-## Raspberry Pi Upgrade
-
-The DC-DC convert is rated for 1.5A and can be
-plugged into the breadboard.  The ribbon cable
-can be assembled with just a vise.  The RasPi
-allows 5V to be injected over the cable.  Obviously
-the RasPi allows people to start trying out ROS.
-
-Bill of Materials:
-
-* 1 Raspberry Pi Model B 512MB (Newark: $35)
-* 1 OKI-78SR-5/1.5-W36: 5V@1.5A DC/DC Switcher (Digikey: $4.30)
-* 1 2x13 Female Ribbon Cable Header
-* 1 16-conductor chunk of ribbon cable
-* 1 2x8 Female Ribbon Cable Header
-* 1 1x8 Male to Male pins header pins
-
-## Odometry Upgrade
-
-This upgrade requires some work.
-
-Bill of Materials:
-
-* 2  AS5055 ($10/2)
-* 2  AS5055 PCB's
-* 2  Appropriate magnet ($2/2)
-* 2  GM3 to magnet shaft adaptor
-
-An adaptor from the GM3 to Magnet is needed;
-this would be custom made out of some plastic.
-In addition a custom PCB is needed to hold
-the AS5055 which is a surface mount chip.
-
-## WiFi Upgrade
-
-Something like the GMYLE using the RTL8191SU should
-do the trick.  With this it is possible to network
-into your robot.  There it may be necessary to have
-separate power injection for the Wi-Fi.
-
-Bill of Materials:
-
-*  1 USB WiFi Dongle with decent antenna (Amazon: ~9)
-
-## Camera Upgrade
-
-This RasPi camera has not shipped yet, but it seems
-to be nearing the end of prototyping.  A USB camera
-is another alternative.
-
-Bill of Materials:
-
-* 1 RasPi Camera (~$25)
-
-## Cheap Arm Upgrade
-
-Bill of Materials:
-* 4 Hobby servos (base twist, shoulder, elbow, gripper)
-* 1 Gripper (Jameco 358811: $20)
-*   Appropriate struts
-
-This is a low payload arm that can lift 10-20 oz max.