[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]
     (p [place the drill bit in position.
               brint the drill up to full speed, and keep it full speed.
               push down until the drill bit has passed through the
               deck.
               keep the drill at full speed.
               stop before the drill smashes into the arduino.
               keep the drill at full speed by holding the trigger.
               bring the drill straight back up.
               hold the trigger down to keep the drill at full speed.
               once the drill is back out of the hole, let go of the
               trigger.])
     (p [check
         ,(itemize
           (item
            [should the drill be at full speed while the drill bit is
                    going down into the wood and coming back up?])
           (item
            [what would happen if the drill bit were not at full
                  speed?])
           (item
            [how do you keep the drill at full speed?]))])))
   (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
1887fb16	73	the drill bit.])
	74	(p [check
	75	,(itemize
	76	(item
	77	[where should the teeth clamp down on the drill bit?])
	78	(item
	79	[what would happen if the teeth tightened on the recessed
	80	part of the drill bit?]))]))
ff0f6a78	81	(subsubsection
7bf575b8	82	:title [holding drill]
	83	(p [hold the drill with one hand on the handle and trigger.
	84	put the other hand on the orange nozzle, before the
	85	black spinning part.]))
c04a9631	86	(subsubsection
	87	:title [arduino placement]
	88	(p [the arduino should be placed as shown in this picture.]
cf59d996	89	(figure :legend "arduino to deck / place arduino"
6fc3d47b	90	(image :file "arduino-to-deck/3-place-arduino.png")))
6fc3d47b	91	(p [here's a closeup]
c1732375	92	(figure :legend "arduino to deck / place arduino closeup"
0b5cd84e	93	(image :file
	94	"arduino-to-deck/4-place-arduino-closeup.png"))
	95	[the picture above shows where to place the arduino on the deck.
	96	the arduino should line up with the holes on the deck.
	97	this alignment line is highlighted in pink.
	98	on the arduino, there's a hole on the top left, between the
	99	orange reset button and black headers.
	100	the green circle shows where the hole is.
	101	the blue box encloses the arduino hole and two deck holes.
	102	place the arduino hole mid-way between the two
543ad3c2	103	deck holes.])
	104	(p [check
	105	,(itemize
	106	(item
	107	[should the arduino be upside-down?])
	108	(item
	109	[what should the upper side of the arduino align with?])
	110	(item
	111	[why not place the arduino up along the left side of the
	112	robot?]))]))
ff0f6a78	113	(subsubsection
8fe23b94	114	:title [drilling]
	115	(p [place the drill bit in position.
	116	brint the drill up to full speed, and keep it full speed.
	117	push down until the drill bit has passed through the
	118	deck.
	119	keep the drill at full speed.
	120	stop before the drill smashes into the arduino.
	121	keep the drill at full speed by holding the trigger.
	122	bring the drill straight back up.
	123	hold the trigger down to keep the drill at full speed.
	124	once the drill is back out of the hole, let go of the
	125	trigger.])
	126	(p [check
	127	,(itemize
	128	(item
	129	[should the drill be at full speed while the drill bit is
	130	going down into the wood and coming back up?])
	131	(item
	132	[what would happen if the drill bit were not at full
	133	speed?])
	134	(item
	135	[how do you keep the drill at full speed?]))])))
59fef212	136	(subsection
59fef212	137	:title [first screw]
ff0f6a78	138	(subsubsection
9f651996	139	:title [fastening arduino to deck using #6-32x3/8\" screw]
	140	(p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is.
	141	it is related to wire gauge.
	142	bigger numbers mean larger screw.
6e7c78dd	143	smaller numbers means smaller screws.]
	144	(figure :legend "arduino to deck / #6-32 screw"
	145	(image :file
	146	"arduino-to-deck/6-32-screw.png")))
9f651996	147	(p [check
59fef212	148	,(itemize
59fef212	149	(item
9f651996	150	[in the motor assembly, there are #4-40x1.25\" screws.
	151	are those fatter, thinner, or the same thickness as the
	152	#6-32x3/8\" screws?]))])
	153	(p [the "32" part is a measurement of how close the threads are to
	154	each other.
	155	this is related to the angle of the thread, which is also
	156	called pitch.
	157	it is a count of how many times the thread wraps around one
	158	inch of the screw body.])
	159	(p [the head is the flat part where some tool, like the alan
	160	wrench, can exert force to spin the screw.])
	161	(p [check
59fef212	162	,(itemize
9f651996	163	(item [how many times will the thread wrap around one inch of
	164	the screw body?])
	165	(item [what about 2 inches?
	166	how many times will the thread wrap around two
	167	inches of the screw body?]))]))
ff0f6a78	168	(subsubsection
	169	:title [fasten the arduino board to the deck]
	170	(p [push the 6-32 screw into the deck from the underside and at the
	171	same time, spin the 6-32 screw clockwise while looking
9f651996	172	down on its head.
9f651996	173	twist until the bottom of the screw is
ff0f6a78	174	about to stick out on the top side of the deck.])
ff0f6a78	175	(p [hold the arduino board flat to the deck and line up the arduino
9f651996	176	hole so the screw can come up through it.
	177	continue tightening the screw into the deck, spinning the same
	178	direction as before.
	179	tighten until the screw head touches the deck.
	180	do not continue tightening after that.])
ff0f6a78	181	(p [the arduino should still be flat against the deck still, just
	182	as it was before tightening the screw.]))
	183	(subsubsection
	184	:title [assessment]
	185	(p [does the arduino stay with the deck when the deck moves?
	186	can the arduino board still rotate a few degrees?
	187	warning, if you rotate the arduino board too much, you
	188	will unscrew it from the deck and you'll have to screw it
9f651996	189	back in.
9f651996	190	rotating a few degrees should be ok.]))
ff0f6a78	191	(subsubsection
	192	:title [arduino board move relative to deck]
	193	(p [without any screws, the arduino board can move independently of
	194	the deck.])
	195	(p [with the first screw, the arduino can rotate around one point
	196	on the deck.])))
24b6d750	197	(subsection
	198	:title [second hole and screw])
	199	(subsection
	200	:title [third and fourth hole and screw]))
57e11138	201	(section
57e11138	202	:title [breadboard])
3c0c7ca4	203	(section
390d8f01	204	:title [battery packs]
	205	(subsection
	206	:title [leads])
	207	(subsection
	208	:title [deck attachment]))
3c0c7ca4	209	(section
5aa69c47	210	:title [motors]
	211	(subsection
	212	:title [leads])
	213	(subsection
	214	:title [mount])
	215	(subsection
	216	:title [deck attachment]))
3c0c7ca4	217	(section
1b593ec7	218	:title [wheels]
	219	(subsection
	220	:title [tread])
	221	(subsection
	222	:title [motor]))
3c0c7ca4	223	(section
2ccf4ca9	224	:title [caster]
	225	(subsection
	226	:title [deck placement]))
3c0c7ca4	227	(section
6550a556	228	:title [sonars]
	229	(subsection
	230	:title [deck placement])))
3c0c7ca4	231	(chapter
9fb37473	232	:title [wiring and software]
9fb37473	233	(section
f0876d62	234	:title [serial]
f0876d62	235	(subsection
1be43d04	236	:title [software on computer]
c3e8314c	237	(subsubsection
1be43d04	238	:title [arduino])
c3e8314c	239	(subsubsection
1be43d04	240	:title [fritzing]))
f0876d62	241	(subsection
	242	:title [attach arduino and computer via cable])
	243	(subsection
	244	:title [debugging common connection problems])
	245	(subsection
	246	:title [arduino reset button]))
9fb37473	247	(section
bb801164	248	:title [left sonar]
	249	(subsection
	250	:title [breadboard connectivity])
	251	(subsection
	252	:title [cable])
	253	(subsection
cb7d1c68	254	:title [arduino headers])
	255	(subsection
	256	:title [sound cm per microsecond at sea level]))
9fb37473	257	(section
9183d52b	258	:title [both sonars]
	259	(subsection
	260	:title [breadboard power rail]
	261	(p [power rail can provide power to more than one device.])))
9fb37473	262	(section
805d6362	263	:title [left motor]
	264	(subsection
	265	:title [arduino digital output])
	266	(subsection
	267	:title [quad half h bridge, aka motor controller])
	268	(subsection
	269	:title [motor battery]))
9fb37473	270	(section
79d761bc	271	:title [both motors]
	272	(subsection
	273	:title [analogWrite]))
9fb37473	274	(section
aedd9003	275	:title [untethered]
	276	(subsection
	277	:title [arduino battery])
	278	(subsection
	279	:title [off and on functions]))
9fb37473	280	(section
28a2365e	281	:title [follow]
	282	(subsection
	283	:title [same wiring as untethered])
	284	(subsection
	285	:title [set motor])
	286	(subsection
	287	:title [go])
	288	(subsection
	289	:title [determining speed]))
9fb37473	290	(section
d460f45c	291	:title [stay on table]
	292	(subsection
	293	:title [stop])
	294	(subsection
	295	:title [backup])
	296	(subsection
	297	:title [turn around]))))
37d286e7	298
	299	;; Copyright 2016 daniel watson
	300
	301	;; This file is part of challenge-bot.
	302
	303	;; challenge-bot is free software: you can redistribute it and/or modify
	304	;; it under the terms of the GNU Affero General Public License as
	305	;; published by the Free Software Foundation, either version 3 of the
	306	;; License, or (at your option) any later version.
	307
	308	;; challenge-bot is distributed in the hope that it will be useful,
	309	;; but WITHOUT ANY WARRANTY; without even the implied warranty of
	310	;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
	311	;; GNU Affero General Public License for more details.
	312
	313	;; You should have received a copy of the GNU Affero General Public
	314	;; License along with challenge-bot. If not, see
	315	;; <http://www.gnu.org/licenses/>.