[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 practice]
     (p [strength check]
        (itemize
         (item [put on safety goggles])
         (item [unplug drill])
         (item [hold drill in one hand])
         (item [point drill at the ground])
         (item [point drill at the wall])))
     (p [steps for drilling into wood block]
        (itemize
         (item [plug in the drill])
         (item [place the drill bit in position])
         (item [bring the drill up to full speed, and keep it at full
                      speed while lowering and raising the drill])
         (item [push down until the drill bit has passed through an inch
                     of the wood block])
         (item [keep the drill at full speed])
         (item [stop before the drill smashes into the wood block])
         (item [keep the drill at full speed by holding the trigger])
         (item [bring the drill straight back up])
         (item [hold the trigger down to keep the drill at full speed])
         (item [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
            [how do you keep the drill at full speed?])
           (item
            [what would happen if the drill bit were not at full
                  speed?])
           (item
            [what would happen if the drill were twisted sideways while
                  the drill bit were in the wood?]))]))
    (subsubsection
     :title [drilling the first screw hole]
     (itemize
      (item [place the drill bit in position])
      (item [bring the drill up to full speed, and keep it full speed])
      (item [push down until the drill bit has passed through the
                  deck])
      (item [keep the drill at full speed])
      (item [stop before the drill smashes into the arduino])
      (item [keep the drill at full speed by holding the trigger])
      (item [bring the drill straight back up])
      (item [hold the trigger down to keep the drill at full speed])
      (item [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 screws.
             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 of "#6-32x3/8\"" 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?])
           (item [where can a tool exert turning force on
                        the screw?]))]))
    (subsubsection
     :title [fasten the arduino board to the deck]
     (p [first we'll put the screw into the deck just enough so the deck
               holds it in place.
               then we will hold the arduino up to the screw and finish
               tightening the screw down.
               with the screw partially in, we do not have hold it as
               rigidly while we are also holding the arduino and
               the deck.])
     (p [push the #6-32 screw into the deck from the underside.
              the underside is the brown side.
              at the same time, spin the 6-32 screw so it rotates
              clockwise while looking down on its head.
              twist until the tip 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.])
     (p [check
         ,(itemize
           (item [why do we insert the first screw partially before
                      holding up the arduino?])
           (item [which side of the deck is the top side?]))]))
    (subsubsection
     :title [assessment of the first screw]
     (itemize
      (item [,(bold [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.])
      (item [does the arduino stay with the deck when the deck moves?])
      (item [can the arduino board still rotate a few degrees?]))))
   (subsection
    :title [second hole and screw]
    (subsubsection
     :title [arduino board move relative to deck]
     (p [without any screws, the arduino board can move independently of
                 the deck.
                 it can translate and rotate freely.
                 with the first screw, the arduino can rotate around one
                 point on the deck and can no longer translate much.])
     (p [the second screw limits rotation a lot.
             it also makes translation even more difficult.
             it might even be too small to be detectable by directly
             looking at it.])
     (p [to choose where the second hole and screw should go, we should
            keep in mind that the goal is to attach the deck to the
            arduino.
            this means minimizing rotation and translation.
            the picture below shows that the second hole should be as
            far as possible from the first hole, since that minimizes
            rotation.]
        (figure :legend "arduino to deck / keep holes far apart"
                (image :file "arduino-to-deck/keep-holes-far-apart.png"))))
    (subsubsection
     :title [drilling and attaching second screw]
     (p [to drill the second hole, follow the same steps as drilling the
            first hole.
            hold the arduino down as before, and drill through the hole
            furthest away from the first hole.
            then insert and tighten the screw as before.])))
   (subsection
    :title [third and fourth hole and screw]
    (p [even though the arduino is pretty well attached with just 2
             screws, we will add a third and fourth.
             this gives practice drilling and tightening screws.
             it also keeps the arduino fixed even more rigidly.])))
  (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
41ba7302	114	:title [drilling practice]
	115	(p [strength check]
	116	(itemize
	117	(item [put on safety goggles])
	118	(item [unplug drill])
	119	(item [hold drill in one hand])
	120	(item [point drill at the ground])
	121	(item [point drill at the wall])))
	122	(p [steps for drilling into wood block]
	123	(itemize
	124	(item [plug in the drill])
	125	(item [place the drill bit in position])
	126	(item [bring the drill up to full speed, and keep it at full
	127	speed while lowering and raising the drill])
	128	(item [push down until the drill bit has passed through an inch
	129	of the wood block])
	130	(item [keep the drill at full speed])
	131	(item [stop before the drill smashes into the wood block])
	132	(item [keep the drill at full speed by holding the trigger])
	133	(item [bring the drill straight back up])
	134	(item [hold the trigger down to keep the drill at full speed])
	135	(item [once the drill is back out of the hole, let go of the
	136	trigger])))
	137	(p [check
	138	,(itemize
	139	(item
	140	[should the drill be at full speed while the drill bit is
	141	going down into the wood and coming back up?])
	142	(item
	143	[how do you keep the drill at full speed?])
	144	(item
	145	[what would happen if the drill bit were not at full
	146	speed?])
	147	(item
	148	[what would happen if the drill were twisted sideways while
	149	the drill bit were in the wood?]))]))
	150	(subsubsection
7a744a6b	151	:title [drilling the first screw hole]
41ba7302	152	(itemize
	153	(item [place the drill bit in position])
	154	(item [bring the drill up to full speed, and keep it full speed])
	155	(item [push down until the drill bit has passed through the
	156	deck])
	157	(item [keep the drill at full speed])
	158	(item [stop before the drill smashes into the arduino])
	159	(item [keep the drill at full speed by holding the trigger])
	160	(item [bring the drill straight back up])
	161	(item [hold the trigger down to keep the drill at full speed])
	162	(item [once the drill is back out of the hole, let go of the
	163	trigger]))
8fe23b94	164	(p [check
	165	,(itemize
	166	(item
	167	[should the drill be at full speed while the drill bit is
	168	going down into the wood and coming back up?])
	169	(item
	170	[what would happen if the drill bit were not at full
	171	speed?])
	172	(item
	173	[how do you keep the drill at full speed?]))])))
59fef212	174	(subsection
59fef212	175	:title [first screw]
ff0f6a78	176	(subsubsection
9f651996	177	:title [fastening arduino to deck using #6-32x3/8\" screw]
	178	(p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is.
	179	it is related to wire gauge.
4e2c2b29	180	bigger numbers mean larger screws.
6e7c78dd	181	smaller numbers means smaller screws.]
	182	(figure :legend "arduino to deck / #6-32 screw"
	183	(image :file
	184	"arduino-to-deck/6-32-screw.png")))
9f651996	185	(p [check
59fef212	186	,(itemize
59fef212	187	(item
9f651996	188	[in the motor assembly, there are #4-40x1.25\" screws.
	189	are those fatter, thinner, or the same thickness as the
	190	#6-32x3/8\" screws?]))])
5747a610	191	(p [the "32" part of "#6-32x3/8\"" is a measurement of how close
5747a610	192	the threads are to each other.
9f651996	193	this is related to the angle of the thread, which is also
	194	called pitch.
	195	it is a count of how many times the thread wraps around one
	196	inch of the screw body.])
	197	(p [the head is the flat part where some tool, like the alan
	198	wrench, can exert force to spin the screw.])
	199	(p [check
59fef212	200	,(itemize
9f651996	201	(item [how many times will the thread wrap around one inch of
	202	the screw body?])
	203	(item [what about 2 inches?
	204	how many times will the thread wrap around two
7a2e6436	205	inches of the screw body?])
	206	(item [where can a tool exert turning force on
	207	the screw?]))]))
ff0f6a78	208	(subsubsection
ff0f6a78	209	:title [fasten the arduino board to the deck]
8eba0b8b	210	(p [first we'll put the screw into the deck just enough so the deck
	211	holds it in place.
	212	then we will hold the arduino up to the screw and finish
	213	tightening the screw down.
	214	with the screw partially in, we do not have hold it as
	215	rigidly while we are also holding the arduino and
	216	the deck.])
c4ea89ee	217	(p [push the #6-32 screw into the deck from the underside.
	218	the underside is the brown side.
	219	at the same time, spin the 6-32 screw so it rotates
	220	clockwise while looking down on its head.
	221	twist until the tip of the screw is about to stick out on
	222	the top side of the deck.])
ff0f6a78	223	(p [hold the arduino board flat to the deck and line up the arduino
9f651996	224	hole so the screw can come up through it.
	225	continue tightening the screw into the deck, spinning the same
	226	direction as before.
	227	tighten until the screw head touches the deck.
	228	do not continue tightening after that.])
ff0f6a78	229	(p [the arduino should still be flat against the deck still, just
f9e58978	230	as it was before tightening the screw.])
	231	(p [check
	232	,(itemize
	233	(item [why do we insert the first screw partially before
	234	holding up the arduino?])
	235	(item [which side of the deck is the top side?]))]))
ff0f6a78	236	(subsubsection
f17976bf	237	:title [assessment of the first screw]
f17976bf	238	(itemize
7bca727f	239	(item [,(bold [warning]), if you rotate the arduino board too
	240	much,you will unscrew it from the deck and you'll have to
	241	screw it back in.
	242	rotating a few degrees should be ok.])
f17976bf	243	(item [does the arduino stay with the deck when the deck moves?])
7bca727f	244	(item [can the arduino board still rotate a few degrees?]))))
f17976bf	245	(subsection
f17976bf	246	:title [second hole and screw]
ff0f6a78	247	(subsubsection
	248	:title [arduino board move relative to deck]
	249	(p [without any screws, the arduino board can move independently of
f17976bf	250	the deck.
c305da78	251	it can translate and rotate freely.
f17976bf	252	with the first screw, the arduino can rotate around one
763861dd	253	point on the deck and can no longer translate much.])
	254	(p [the second screw limits rotation a lot.
	255	it also makes translation even more difficult.
	256	it might even be too small to be detectable by directly
	257	looking at it.])
	258	(p [to choose where the second hole and screw should go, we should
	259	keep in mind that the goal is to attach the deck to the
	260	arduino.
	261	this means minimizing rotation and translation.
	262	the picture below shows that the second hole should be as
	263	far as possible from the first hole, since that minimizes
	264	rotation.]
	265	(figure :legend "arduino to deck / keep holes far apart"
e3a31106	266	(image :file "arduino-to-deck/keep-holes-far-apart.png"))))
e3a31106	267	(subsubsection
96401b17	268	:title [drilling and attaching second screw]
e3a31106	269	(p [to drill the second hole, follow the same steps as drilling the
	270	first hole.
	271	hold the arduino down as before, and drill through the hole
6ef8240f	272	furthest away from the first hole.
6ef8240f	273	then insert and tighten the screw as before.])))
24b6d750	274	(subsection
a5939c50	275	:title [third and fourth hole and screw]
	276	(p [even though the arduino is pretty well attached with just 2
	277	screws, we will add a third and fourth.
	278	this gives practice drilling and tightening screws.
	279	it also keeps the arduino fixed even more rigidly.])))
57e11138	280	(section
57e11138	281	:title [breadboard])
3c0c7ca4	282	(section
390d8f01	283	:title [battery packs]
	284	(subsection
	285	:title [leads])
	286	(subsection
	287	:title [deck attachment]))
3c0c7ca4	288	(section
5aa69c47	289	:title [motors]
	290	(subsection
	291	:title [leads])
	292	(subsection
	293	:title [mount])
	294	(subsection
	295	:title [deck attachment]))
3c0c7ca4	296	(section
1b593ec7	297	:title [wheels]
	298	(subsection
	299	:title [tread])
	300	(subsection
	301	:title [motor]))
3c0c7ca4	302	(section
2ccf4ca9	303	:title [caster]
	304	(subsection
	305	:title [deck placement]))
3c0c7ca4	306	(section
6550a556	307	:title [sonars]
	308	(subsection
	309	:title [deck placement])))
3c0c7ca4	310	(chapter
9fb37473	311	:title [wiring and software]
9fb37473	312	(section
f0876d62	313	:title [serial]
f0876d62	314	(subsection
1be43d04	315	:title [software on computer]
c3e8314c	316	(subsubsection
1be43d04	317	:title [arduino])
c3e8314c	318	(subsubsection
1be43d04	319	:title [fritzing]))
f0876d62	320	(subsection
	321	:title [attach arduino and computer via cable])
	322	(subsection
	323	:title [debugging common connection problems])
	324	(subsection
	325	:title [arduino reset button]))
9fb37473	326	(section
bb801164	327	:title [left sonar]
	328	(subsection
	329	:title [breadboard connectivity])
	330	(subsection
	331	:title [cable])
	332	(subsection
cb7d1c68	333	:title [arduino headers])
	334	(subsection
	335	:title [sound cm per microsecond at sea level]))
9fb37473	336	(section
9183d52b	337	:title [both sonars]
	338	(subsection
	339	:title [breadboard power rail]
	340	(p [power rail can provide power to more than one device.])))
9fb37473	341	(section
805d6362	342	:title [left motor]
	343	(subsection
	344	:title [arduino digital output])
	345	(subsection
	346	:title [quad half h bridge, aka motor controller])
	347	(subsection
	348	:title [motor battery]))
9fb37473	349	(section
79d761bc	350	:title [both motors]
	351	(subsection
	352	:title [analogWrite]))
9fb37473	353	(section
aedd9003	354	:title [untethered]
	355	(subsection
	356	:title [arduino battery])
	357	(subsection
	358	:title [off and on functions]))
9fb37473	359	(section
28a2365e	360	:title [follow]
	361	(subsection
	362	:title [same wiring as untethered])
	363	(subsection
	364	:title [set motor])
	365	(subsection
	366	:title [go])
	367	(subsection
	368	:title [determining speed]))
9fb37473	369	(section
d460f45c	370	:title [stay on table]
	371	(subsection
	372	:title [stop])
	373	(subsection
	374	:title [backup])
	375	(subsection
	376	:title [turn around]))))
37d286e7	377
	378	;; Copyright 2016 daniel watson
	379
	380	;; This file is part of challenge-bot.
	381
	382	;; challenge-bot is free software: you can redistribute it and/or modify
	383	;; it under the terms of the GNU Affero General Public License as
	384	;; published by the Free Software Foundation, either version 3 of the
	385	;; License, or (at your option) any later version.
	386
	387	;; challenge-bot is distributed in the hope that it will be useful,
	388	;; but WITHOUT ANY WARRANTY; without even the implied warranty of
	389	;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
	390	;; GNU Affero General Public License for more details.
	391
	392	;; You should have received a copy of the GNU Affero General Public
	393	;; License along with challenge-bot. If not, see
	394	;; <http://www.gnu.org/licenses/>.