[challenge-bot] / curriculum / challenge-bot.scm

;; tldr; AGPLv3+
;; copyright info at bottom

(document
 :title [challenge-bot]
 (chapter
  :title [mechanical]
  (p [let's build your robot!])
  (section
   :title [arduino to deck]
   (p [let's attach the arduino to the deck.])
   (subsection
    :title [required materials]
    (p [you will need the things in this picture.
            ,(figure :legend "arduino to deck / required materials"
                     (image :file "arduino-to-deck/0-required-materials.png"))
            ,(itemize
              (item [medical kit with bandages])
              (item [safety goggles])
              (item [drill bit \(we will determine size in a moment\)])
              (item [drill])
              (item [alan wrench])
              (item [wood block])
              (item [arduino])
              (item [#6-32x3/8\", four of them])
              (item [robot deck, the white thing with a grid of holes1]))]))
   (subsection
    :title [first hole]
    (subsubsection
     :title [choosing drill bit]
     (p [the arduino comes with holes in it already, so we will make
             some choices around those holes.
             choosing the right drill bit depends on what job you are
             doing.
             right now, we are making holes for screws to hold the
             arduino to the deck.
             there are two constraints between the hole and screw.
             each hole needs to be big enough for the screw body to fit
             through it.
             the holes also need to be smaller than the screw's thread.
             since there are holes on the arduino already, the screw was
             chosen to match it.
             the screw was chosen so that the hole on the arduino was
             bigger than the screw body and smaller than its thread.
             we will choose the biggest drill bit that fits through the
             hole on the arduino, then use that to drill holes in the
             deck.])
     (p [here's a cross section of a screw in the deck]
        (figure :legend "screw cross section"
                (image :file
                       "arduino-to-deck/screw-cross-section.png"))))
    (subsubsection
     :title [inserting drill bit]
     (p (figure :legend "arduino to deck / insert bit"
                (image :file "arduino-to-deck/1-insert-bit.png"))
        [insert the drill bit into the teeth of the drill.
                insert it far enough that the teeth will clamp on the
                smooth part of the bit when they are tightened.])
     (p (figure
         :legend "arduino to deck / twist tighten drill teeth"
         (image :file "arduino-to-deck/2-twist-tighten-drill-teeth.png"))
        [while holding the drill bit, twist end of the drill to tighten
               the teeth.
               make sure that the teeth end up gripping the flat part of
               the drill bit.]))
    (subsubsection
     :title [holding drill]
     (p [hold the drill with one hand on the handle and trigger.
              put the other hand on the orange nozzle, before the
              black spinning part.]))
    (subsubsection
     :title [arduino placement]
     (p [the arduino should be placed as shown in this picture.]
        (figure :legend "arduino to deck / place arduino"
                (image :file "arduino-to-deck/3-place-arduino.png")))
     (p [here's a closeup]
        (figure :legend "arduino to deck / place arduino closeup"
                (image :file
                       "arduino-to-deck/4-place-arduino-closeup.png"))
        [the picture above shows where to place the arduino on the deck.
             the arduino should line up with the holes on the deck.
             this alignment line is highlighted in pink.
             on the arduino, there's a hole on the top left, between the
             orange reset button and black headers.
             the green circle shows where the hole is.
             the blue box encloses the arduino hole and two deck holes.
             place the arduino hole mid-way between the two
             deck holes.]))
    (subsubsection
     :title [drilling]))
   (subsection
    :title [first screw]
    (subsubsection
     :title [fastening arduino to deck using #6-32x3/8\" screw]
     (p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is.
             it is related to wire gauge.
             bigger numbers mean larger screw.
             smaller numbers means smaller screws.]
        (figure :legend "arduino to deck / #6-32 screw"
                (image :file
                       "arduino-to-deck/6-32-screw.png")))
     (p [check
         ,(itemize
           (item
            [in the motor assembly, there are #4-40x1.25\" screws.
                are those fatter, thinner, or the same thickness as the
                #6-32x3/8\" screws?]))])
     (p [the "32" part is a measurement of how close the threads are to
             each other.
             this is related to the angle of the thread, which is also
             called pitch.
             it is a count of how many times the thread wraps around one
             inch of the screw body.])
     (p [the head is the flat part where some tool, like the alan
             wrench, can exert force to spin the screw.])
     (p [check
         ,(itemize
           (item [how many times will the thread wrap around one inch of
                      the screw body?])
           (item [what about 2 inches?
                       how many times will the thread wrap around two
                       inches of the screw body?]))]))
    (subsubsection
     :title [fasten the arduino board to the deck]
     (p [push the 6-32 screw into the deck from the underside and at the
              same time, spin the 6-32 screw clockwise while looking
              down on its head.
              twist until the bottom of the screw is
              about to stick out on the top side of the deck.])
     (p [hold the arduino board flat to the deck and line up the arduino
              hole so the screw can come up through it.
              continue tightening the screw into the deck, spinning the same
              direction as before.
              tighten until the screw head touches the deck.
              do not continue tightening after that.])
     (p [the arduino should still be flat against the deck still, just
             as it was before tightening the screw.]))
    (subsubsection
     :title [assessment]
     (p [does the arduino stay with the deck when the deck moves?
              can the arduino board still rotate a few degrees?
              warning, if you rotate the arduino board too much, you
              will unscrew it from the deck and you'll have to screw it
              back in.
              rotating a few degrees should be ok.]))
    (subsubsection
     :title [arduino board move relative to deck]
     (p [without any screws, the arduino board can move independently of
                 the deck.])
     (p [with the first screw, the arduino can rotate around one point
              on the deck.])))
   (subsection
    :title [second hole and screw])
   (subsection
    :title [third and fourth hole and screw]))
  (section
   :title [breadboard])
  (section
   :title [battery packs]
   (subsection
    :title [leads])
   (subsection
    :title [deck attachment]))
  (section
   :title [motors]
   (subsection
    :title [leads])
   (subsection
    :title [mount])
   (subsection
    :title [deck attachment]))
  (section
   :title [wheels]
   (subsection
    :title [tread])
   (subsection
    :title [motor]))
  (section
   :title [caster]
   (subsection
    :title [deck placement]))
  (section
   :title [sonars]
   (subsection
    :title [deck placement])))
 (chapter
  :title [wiring and software]
  (section
   :title [serial]
   (subsection
    :title [software on computer]
    (subsubsection
     :title [arduino])
    (subsubsection
     :title [fritzing]))
   (subsection
    :title [attach arduino and computer via cable])
   (subsection
    :title [debugging common connection problems])
   (subsection
    :title [arduino reset button]))
  (section
   :title [left sonar]
   (subsection
    :title [breadboard connectivity])
   (subsection
    :title [cable])
   (subsection
    :title [arduino headers])
   (subsection
    :title [sound cm per microsecond at sea level]))
  (section
   :title [both sonars]
   (subsection
    :title [breadboard power rail]
    (p [power rail can provide power to more than one device.])))
  (section
   :title [left motor]
   (subsection
    :title [arduino digital output])
   (subsection
    :title [quad half h bridge, aka motor controller])
   (subsection
    :title [motor battery]))
  (section
   :title [both motors]
   (subsection
    :title [analogWrite]))
  (section
   :title [untethered]
   (subsection
    :title [arduino battery])
   (subsection
    :title [off and on functions]))
  (section
   :title [follow]
   (subsection
    :title [same wiring as untethered])
   (subsection
    :title [set motor])
   (subsection
    :title [go])
   (subsection
    :title [determining speed]))
  (section
   :title [stay on table]
   (subsection
    :title [stop])
   (subsection
    :title [backup])
   (subsection
    :title [turn around]))))

;; Copyright 2016 daniel watson

;; This file is part of challenge-bot.

;; challenge-bot is free software: you can redistribute it and/or modify
;; it under the terms of the GNU Affero General Public License as
;; published by the Free Software Foundation, either version 3 of the
;; License, or (at your option) any later version.

;; challenge-bot is distributed in the hope that it will be useful,
;; but WITHOUT ANY WARRANTY; without even the implied warranty of
;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
;; GNU Affero General Public License for more details.

;; You should have received a copy of the GNU Affero General Public
;; License along with challenge-bot.  If not, see
;; <http://www.gnu.org/licenses/>.
Commit	Line	Data
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])
d0873756	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
	51	"arduino-to-deck/screw-cross-section.png"))))
ff0f6a78	52	(subsubsection
ca8e4428	53	:title [inserting drill bit]
	54	(p (figure :legend "arduino to deck / insert bit"
	55	(image :file "arduino-to-deck/1-insert-bit.png"))
	56	[insert the drill bit into the teeth of the drill.
	57	insert it far enough that the teeth will clamp on the
3875c1ef	58	smooth part of the bit when they are tightened.])
	59	(p (figure
	60	:legend "arduino to deck / twist tighten drill teeth"
	61	(image :file "arduino-to-deck/2-twist-tighten-drill-teeth.png"))
	62	[while holding the drill bit, twist end of the drill to tighten
	63	the teeth.
	64	make sure that the teeth end up gripping the flat part of
	65	the drill bit.]))
ff0f6a78	66	(subsubsection
7bf575b8	67	:title [holding drill]
	68	(p [hold the drill with one hand on the handle and trigger.
	69	put the other hand on the orange nozzle, before the
	70	black spinning part.]))
c04a9631	71	(subsubsection
	72	:title [arduino placement]
	73	(p [the arduino should be placed as shown in this picture.]
cf59d996	74	(figure :legend "arduino to deck / place arduino"
6fc3d47b	75	(image :file "arduino-to-deck/3-place-arduino.png")))
6fc3d47b	76	(p [here's a closeup]
c1732375	77	(figure :legend "arduino to deck / place arduino closeup"
0b5cd84e	78	(image :file
	79	"arduino-to-deck/4-place-arduino-closeup.png"))
	80	[the picture above shows where to place the arduino on the deck.
	81	the arduino should line up with the holes on the deck.
	82	this alignment line is highlighted in pink.
	83	on the arduino, there's a hole on the top left, between the
	84	orange reset button and black headers.
	85	the green circle shows where the hole is.
	86	the blue box encloses the arduino hole and two deck holes.
	87	place the arduino hole mid-way between the two
	88	deck holes.]))
ff0f6a78	89	(subsubsection
59fef212	90	:title [drilling]))
	91	(subsection
	92	:title [first screw]
ff0f6a78	93	(subsubsection
9f651996	94	:title [fastening arduino to deck using #6-32x3/8\" screw]
	95	(p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is.
	96	it is related to wire gauge.
	97	bigger numbers mean larger screw.
6e7c78dd	98	smaller numbers means smaller screws.]
	99	(figure :legend "arduino to deck / #6-32 screw"
	100	(image :file
	101	"arduino-to-deck/6-32-screw.png")))
9f651996	102	(p [check
59fef212	103	,(itemize
59fef212	104	(item
9f651996	105	[in the motor assembly, there are #4-40x1.25\" screws.
	106	are those fatter, thinner, or the same thickness as the
	107	#6-32x3/8\" screws?]))])
	108	(p [the "32" part is a measurement of how close the threads are to
	109	each other.
	110	this is related to the angle of the thread, which is also
	111	called pitch.
	112	it is a count of how many times the thread wraps around one
	113	inch of the screw body.])
	114	(p [the head is the flat part where some tool, like the alan
	115	wrench, can exert force to spin the screw.])
	116	(p [check
59fef212	117	,(itemize
9f651996	118	(item [how many times will the thread wrap around one inch of
	119	the screw body?])
	120	(item [what about 2 inches?
	121	how many times will the thread wrap around two
	122	inches of the screw body?]))]))
ff0f6a78	123	(subsubsection
	124	:title [fasten the arduino board to the deck]
	125	(p [push the 6-32 screw into the deck from the underside and at the
	126	same time, spin the 6-32 screw clockwise while looking
9f651996	127	down on its head.
9f651996	128	twist until the bottom of the screw is
ff0f6a78	129	about to stick out on the top side of the deck.])
ff0f6a78	130	(p [hold the arduino board flat to the deck and line up the arduino
9f651996	131	hole so the screw can come up through it.
	132	continue tightening the screw into the deck, spinning the same
	133	direction as before.
	134	tighten until the screw head touches the deck.
	135	do not continue tightening after that.])
ff0f6a78	136	(p [the arduino should still be flat against the deck still, just
	137	as it was before tightening the screw.]))
	138	(subsubsection
	139	:title [assessment]
	140	(p [does the arduino stay with the deck when the deck moves?
	141	can the arduino board still rotate a few degrees?
	142	warning, if you rotate the arduino board too much, you
	143	will unscrew it from the deck and you'll have to screw it
9f651996	144	back in.
9f651996	145	rotating a few degrees should be ok.]))
ff0f6a78	146	(subsubsection
	147	:title [arduino board move relative to deck]
	148	(p [without any screws, the arduino board can move independently of
	149	the deck.])
	150	(p [with the first screw, the arduino can rotate around one point
	151	on the deck.])))
24b6d750	152	(subsection
	153	:title [second hole and screw])
	154	(subsection
	155	:title [third and fourth hole and screw]))
57e11138	156	(section
57e11138	157	:title [breadboard])
3c0c7ca4	158	(section
390d8f01	159	:title [battery packs]
	160	(subsection
	161	:title [leads])
	162	(subsection
	163	:title [deck attachment]))
3c0c7ca4	164	(section
5aa69c47	165	:title [motors]
	166	(subsection
	167	:title [leads])
	168	(subsection
	169	:title [mount])
	170	(subsection
	171	:title [deck attachment]))
3c0c7ca4	172	(section
1b593ec7	173	:title [wheels]
	174	(subsection
	175	:title [tread])
	176	(subsection
	177	:title [motor]))
3c0c7ca4	178	(section
2ccf4ca9	179	:title [caster]
	180	(subsection
	181	:title [deck placement]))
3c0c7ca4	182	(section
6550a556	183	:title [sonars]
	184	(subsection
	185	:title [deck placement])))
3c0c7ca4	186	(chapter
9fb37473	187	:title [wiring and software]
9fb37473	188	(section
f0876d62	189	:title [serial]
f0876d62	190	(subsection
1be43d04	191	:title [software on computer]
c3e8314c	192	(subsubsection
1be43d04	193	:title [arduino])
c3e8314c	194	(subsubsection
1be43d04	195	:title [fritzing]))
f0876d62	196	(subsection
	197	:title [attach arduino and computer via cable])
	198	(subsection
	199	:title [debugging common connection problems])
	200	(subsection
	201	:title [arduino reset button]))
9fb37473	202	(section
bb801164	203	:title [left sonar]
	204	(subsection
	205	:title [breadboard connectivity])
	206	(subsection
	207	:title [cable])
	208	(subsection
cb7d1c68	209	:title [arduino headers])
	210	(subsection
	211	:title [sound cm per microsecond at sea level]))
9fb37473	212	(section
9183d52b	213	:title [both sonars]
	214	(subsection
	215	:title [breadboard power rail]
	216	(p [power rail can provide power to more than one device.])))
9fb37473	217	(section
805d6362	218	:title [left motor]
	219	(subsection
	220	:title [arduino digital output])
	221	(subsection
	222	:title [quad half h bridge, aka motor controller])
	223	(subsection
	224	:title [motor battery]))
9fb37473	225	(section
79d761bc	226	:title [both motors]
	227	(subsection
	228	:title [analogWrite]))
9fb37473	229	(section
aedd9003	230	:title [untethered]
	231	(subsection
	232	:title [arduino battery])
	233	(subsection
	234	:title [off and on functions]))
9fb37473	235	(section
28a2365e	236	:title [follow]
	237	(subsection
	238	:title [same wiring as untethered])
	239	(subsection
	240	:title [set motor])
	241	(subsection
	242	:title [go])
	243	(subsection
	244	:title [determining speed]))
9fb37473	245	(section
d460f45c	246	:title [stay on table]
	247	(subsection
	248	:title [stop])
	249	(subsection
	250	:title [backup])
	251	(subsection
	252	:title [turn around]))))
37d286e7	253
	254	;; Copyright 2016 daniel watson
	255
	256	;; This file is part of challenge-bot.
	257
	258	;; challenge-bot is free software: you can redistribute it and/or modify
	259	;; it under the terms of the GNU Affero General Public License as
	260	;; published by the Free Software Foundation, either version 3 of the
	261	;; License, or (at your option) any later version.
	262
	263	;; challenge-bot is distributed in the hope that it will be useful,
	264	;; but WITHOUT ANY WARRANTY; without even the implied warranty of
	265	;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
	266	;; GNU Affero General Public License for more details.
	267
	268	;; You should have received a copy of the GNU Affero General Public
	269	;; License along with challenge-bot. If not, see
	270	;; <http://www.gnu.org/licenses/>.