| 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. |
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