add check for arduino deck placement

[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.])
     (p [check
         ,(itemize
           (item
            [where should the teeth clamp down on the drill bit?])
           (item
            [what would happen if the teeth tightened on the recessed
                  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.])
     (p [check
         ,(itemize
           (item
            [should the arduino be upside-down?])
           (item
            [what should the upper side of the arduino align with?])
           (item
            [why not place the arduino up along the left side of the
                 robot?]))]))
    (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/>.