[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 [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.]))
    (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
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]
c4ea89ee	210	(p [push the #6-32 screw into the deck from the underside.
	211	the underside is the brown side.
	212	at the same time, spin the 6-32 screw so it rotates
	213	clockwise while looking down on its head.
	214	twist until the tip of the screw is about to stick out on
	215	the top side of the deck.])
ff0f6a78	216	(p [hold the arduino board flat to the deck and line up the arduino
9f651996	217	hole so the screw can come up through it.
	218	continue tightening the screw into the deck, spinning the same
	219	direction as before.
	220	tighten until the screw head touches the deck.
	221	do not continue tightening after that.])
ff0f6a78	222	(p [the arduino should still be flat against the deck still, just
	223	as it was before tightening the screw.]))
	224	(subsubsection
	225	:title [assessment]
	226	(p [does the arduino stay with the deck when the deck moves?
	227	can the arduino board still rotate a few degrees?
	228	warning, if you rotate the arduino board too much, you
	229	will unscrew it from the deck and you'll have to screw it
9f651996	230	back in.
9f651996	231	rotating a few degrees should be ok.]))
ff0f6a78	232	(subsubsection
	233	:title [arduino board move relative to deck]
	234	(p [without any screws, the arduino board can move independently of
	235	the deck.])
	236	(p [with the first screw, the arduino can rotate around one point
	237	on the deck.])))
24b6d750	238	(subsection
	239	:title [second hole and screw])
	240	(subsection
	241	:title [third and fourth hole and screw]))
57e11138	242	(section
57e11138	243	:title [breadboard])
3c0c7ca4	244	(section
390d8f01	245	:title [battery packs]
	246	(subsection
	247	:title [leads])
	248	(subsection
	249	:title [deck attachment]))
3c0c7ca4	250	(section
5aa69c47	251	:title [motors]
	252	(subsection
	253	:title [leads])
	254	(subsection
	255	:title [mount])
	256	(subsection
	257	:title [deck attachment]))
3c0c7ca4	258	(section
1b593ec7	259	:title [wheels]
	260	(subsection
	261	:title [tread])
	262	(subsection
	263	:title [motor]))
3c0c7ca4	264	(section
2ccf4ca9	265	:title [caster]
	266	(subsection
	267	:title [deck placement]))
3c0c7ca4	268	(section
6550a556	269	:title [sonars]
	270	(subsection
	271	:title [deck placement])))
3c0c7ca4	272	(chapter
9fb37473	273	:title [wiring and software]
9fb37473	274	(section
f0876d62	275	:title [serial]
f0876d62	276	(subsection
1be43d04	277	:title [software on computer]
c3e8314c	278	(subsubsection
1be43d04	279	:title [arduino])
c3e8314c	280	(subsubsection
1be43d04	281	:title [fritzing]))
f0876d62	282	(subsection
	283	:title [attach arduino and computer via cable])
	284	(subsection
	285	:title [debugging common connection problems])
	286	(subsection
	287	:title [arduino reset button]))
9fb37473	288	(section
bb801164	289	:title [left sonar]
	290	(subsection
	291	:title [breadboard connectivity])
	292	(subsection
	293	:title [cable])
	294	(subsection
cb7d1c68	295	:title [arduino headers])
	296	(subsection
	297	:title [sound cm per microsecond at sea level]))
9fb37473	298	(section
9183d52b	299	:title [both sonars]
	300	(subsection
	301	:title [breadboard power rail]
	302	(p [power rail can provide power to more than one device.])))
9fb37473	303	(section
805d6362	304	:title [left motor]
	305	(subsection
	306	:title [arduino digital output])
	307	(subsection
	308	:title [quad half h bridge, aka motor controller])
	309	(subsection
	310	:title [motor battery]))
9fb37473	311	(section
79d761bc	312	:title [both motors]
	313	(subsection
	314	:title [analogWrite]))
9fb37473	315	(section
aedd9003	316	:title [untethered]
	317	(subsection
	318	:title [arduino battery])
	319	(subsection
	320	:title [off and on functions]))
9fb37473	321	(section
28a2365e	322	:title [follow]
	323	(subsection
	324	:title [same wiring as untethered])
	325	(subsection
	326	:title [set motor])
	327	(subsection
	328	:title [go])
	329	(subsection
	330	:title [determining speed]))
9fb37473	331	(section
d460f45c	332	:title [stay on table]
	333	(subsection
	334	:title [stop])
	335	(subsection
	336	:title [backup])
	337	(subsection
	338	:title [turn around]))))
37d286e7	339
	340	;; Copyright 2016 daniel watson
	341
	342	;; This file is part of challenge-bot.
	343
	344	;; challenge-bot is free software: you can redistribute it and/or modify
	345	;; it under the terms of the GNU Affero General Public License as
	346	;; published by the Free Software Foundation, either version 3 of the
	347	;; License, or (at your option) any later version.
	348
	349	;; challenge-bot is distributed in the hope that it will be useful,
	350	;; but WITHOUT ANY WARRANTY; without even the implied warranty of
	351	;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
	352	;; GNU Affero General Public License for more details.
	353
	354	;; You should have received a copy of the GNU Affero General Public
	355	;; License along with challenge-bot. If not, see
	356	;; <http://www.gnu.org/licenses/>.