[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")))
     (p [check
         ,(itemize
           (item
            [what would happen if the drill bit were larger than the
                  screw thread?])
           (item
            [what would happen if the drill bit were smaller than the
                  screw body?]))]))
    (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
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
	73	the drill bit.]))
ff0f6a78	74	(subsubsection
7bf575b8	75	:title [holding drill]
	76	(p [hold the drill with one hand on the handle and trigger.
	77	put the other hand on the orange nozzle, before the
	78	black spinning part.]))
c04a9631	79	(subsubsection
	80	:title [arduino placement]
	81	(p [the arduino should be placed as shown in this picture.]
cf59d996	82	(figure :legend "arduino to deck / place arduino"
6fc3d47b	83	(image :file "arduino-to-deck/3-place-arduino.png")))
6fc3d47b	84	(p [here's a closeup]
c1732375	85	(figure :legend "arduino to deck / place arduino closeup"
0b5cd84e	86	(image :file
	87	"arduino-to-deck/4-place-arduino-closeup.png"))
	88	[the picture above shows where to place the arduino on the deck.
	89	the arduino should line up with the holes on the deck.
	90	this alignment line is highlighted in pink.
	91	on the arduino, there's a hole on the top left, between the
	92	orange reset button and black headers.
	93	the green circle shows where the hole is.
	94	the blue box encloses the arduino hole and two deck holes.
	95	place the arduino hole mid-way between the two
	96	deck holes.]))
ff0f6a78	97	(subsubsection
59fef212	98	:title [drilling]))
	99	(subsection
	100	:title [first screw]
ff0f6a78	101	(subsubsection
9f651996	102	:title [fastening arduino to deck using #6-32x3/8\" screw]
	103	(p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is.
	104	it is related to wire gauge.
	105	bigger numbers mean larger screw.
6e7c78dd	106	smaller numbers means smaller screws.]
	107	(figure :legend "arduino to deck / #6-32 screw"
	108	(image :file
	109	"arduino-to-deck/6-32-screw.png")))
9f651996	110	(p [check
59fef212	111	,(itemize
59fef212	112	(item
9f651996	113	[in the motor assembly, there are #4-40x1.25\" screws.
	114	are those fatter, thinner, or the same thickness as the
	115	#6-32x3/8\" screws?]))])
	116	(p [the "32" part is a measurement of how close the threads are to
	117	each other.
	118	this is related to the angle of the thread, which is also
	119	called pitch.
	120	it is a count of how many times the thread wraps around one
	121	inch of the screw body.])
	122	(p [the head is the flat part where some tool, like the alan
	123	wrench, can exert force to spin the screw.])
	124	(p [check
59fef212	125	,(itemize
9f651996	126	(item [how many times will the thread wrap around one inch of
	127	the screw body?])
	128	(item [what about 2 inches?
	129	how many times will the thread wrap around two
	130	inches of the screw body?]))]))
ff0f6a78	131	(subsubsection
	132	:title [fasten the arduino board to the deck]
	133	(p [push the 6-32 screw into the deck from the underside and at the
	134	same time, spin the 6-32 screw clockwise while looking
9f651996	135	down on its head.
9f651996	136	twist until the bottom of the screw is
ff0f6a78	137	about to stick out on the top side of the deck.])
ff0f6a78	138	(p [hold the arduino board flat to the deck and line up the arduino
9f651996	139	hole so the screw can come up through it.
	140	continue tightening the screw into the deck, spinning the same
	141	direction as before.
	142	tighten until the screw head touches the deck.
	143	do not continue tightening after that.])
ff0f6a78	144	(p [the arduino should still be flat against the deck still, just
	145	as it was before tightening the screw.]))
	146	(subsubsection
	147	:title [assessment]
	148	(p [does the arduino stay with the deck when the deck moves?
	149	can the arduino board still rotate a few degrees?
	150	warning, if you rotate the arduino board too much, you
	151	will unscrew it from the deck and you'll have to screw it
9f651996	152	back in.
9f651996	153	rotating a few degrees should be ok.]))
ff0f6a78	154	(subsubsection
	155	:title [arduino board move relative to deck]
	156	(p [without any screws, the arduino board can move independently of
	157	the deck.])
	158	(p [with the first screw, the arduino can rotate around one point
	159	on the deck.])))
24b6d750	160	(subsection
	161	:title [second hole and screw])
	162	(subsection
	163	:title [third and fourth hole and screw]))
57e11138	164	(section
57e11138	165	:title [breadboard])
3c0c7ca4	166	(section
390d8f01	167	:title [battery packs]
	168	(subsection
	169	:title [leads])
	170	(subsection
	171	:title [deck attachment]))
3c0c7ca4	172	(section
5aa69c47	173	:title [motors]
	174	(subsection
	175	:title [leads])
	176	(subsection
	177	:title [mount])
	178	(subsection
	179	:title [deck attachment]))
3c0c7ca4	180	(section
1b593ec7	181	:title [wheels]
	182	(subsection
	183	:title [tread])
	184	(subsection
	185	:title [motor]))
3c0c7ca4	186	(section
2ccf4ca9	187	:title [caster]
	188	(subsection
	189	:title [deck placement]))
3c0c7ca4	190	(section
6550a556	191	:title [sonars]
	192	(subsection
	193	:title [deck placement])))
3c0c7ca4	194	(chapter
9fb37473	195	:title [wiring and software]
9fb37473	196	(section
f0876d62	197	:title [serial]
f0876d62	198	(subsection
1be43d04	199	:title [software on computer]
c3e8314c	200	(subsubsection
1be43d04	201	:title [arduino])
c3e8314c	202	(subsubsection
1be43d04	203	:title [fritzing]))
f0876d62	204	(subsection
	205	:title [attach arduino and computer via cable])
	206	(subsection
	207	:title [debugging common connection problems])
	208	(subsection
	209	:title [arduino reset button]))
9fb37473	210	(section
bb801164	211	:title [left sonar]
	212	(subsection
	213	:title [breadboard connectivity])
	214	(subsection
	215	:title [cable])
	216	(subsection
cb7d1c68	217	:title [arduino headers])
	218	(subsection
	219	:title [sound cm per microsecond at sea level]))
9fb37473	220	(section
9183d52b	221	:title [both sonars]
	222	(subsection
	223	:title [breadboard power rail]
	224	(p [power rail can provide power to more than one device.])))
9fb37473	225	(section
805d6362	226	:title [left motor]
	227	(subsection
	228	:title [arduino digital output])
	229	(subsection
	230	:title [quad half h bridge, aka motor controller])
	231	(subsection
	232	:title [motor battery]))
9fb37473	233	(section
79d761bc	234	:title [both motors]
	235	(subsection
	236	:title [analogWrite]))
9fb37473	237	(section
aedd9003	238	:title [untethered]
	239	(subsection
	240	:title [arduino battery])
	241	(subsection
	242	:title [off and on functions]))
9fb37473	243	(section
28a2365e	244	:title [follow]
	245	(subsection
	246	:title [same wiring as untethered])
	247	(subsection
	248	:title [set motor])
	249	(subsection
	250	:title [go])
	251	(subsection
	252	:title [determining speed]))
9fb37473	253	(section
d460f45c	254	:title [stay on table]
	255	(subsection
	256	:title [stop])
	257	(subsection
	258	:title [backup])
	259	(subsection
	260	:title [turn around]))))
37d286e7	261
	262	;; Copyright 2016 daniel watson
	263
	264	;; This file is part of challenge-bot.
	265
	266	;; challenge-bot is free software: you can redistribute it and/or modify
	267	;; it under the terms of the GNU Affero General Public License as
	268	;; published by the Free Software Foundation, either version 3 of the
	269	;; License, or (at your option) any later version.
	270
	271	;; challenge-bot is distributed in the hope that it will be useful,
	272	;; but WITHOUT ANY WARRANTY; without even the implied warranty of
	273	;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
	274	;; GNU Affero General Public License for more details.
	275
	276	;; You should have received a copy of the GNU Affero General Public
	277	;; License along with challenge-bot. If not, see
	278	;; <http://www.gnu.org/licenses/>.