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]) |
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] |
31 | (p [choosing the right drill bit depends on what job you are doing. |
32 | right now, we are making holes for screws to hold the |
33 | arduino to the deck. |
34 | this means the hole needs to be big enough for the |
35 | screw body to fit through. |
36 | we want the screw to stay put once it's in place. |
8923a50f |
37 | we also want the drill bit to be smaller than the |
38 | diameter of the thread. |
39 | the screw was chosen so that the hole on the arduino |
40 | was bigger than the body and smaller than the thread. |
41 | we will choose the biggest drill bit that fits through |
42 | the hole on the arduino.]) |
85fae63f |
43 | (p [here's a cross section of a screw in the deck] |
44 | (figure :legend "screw cross section" |
45 | (image :file |
46 | "arduino-to-deck/screw-cross-section.png")))) |
ff0f6a78 |
47 | (subsubsection |
ca8e4428 |
48 | :title [inserting drill bit] |
49 | (p (figure :legend "arduino to deck / insert bit" |
50 | (image :file "arduino-to-deck/1-insert-bit.png")) |
51 | [insert the drill bit into the teeth of the drill. |
52 | insert it far enough that the teeth will clamp on the |
3875c1ef |
53 | smooth part of the bit when they are tightened.]) |
54 | (p (figure |
55 | :legend "arduino to deck / twist tighten drill teeth" |
56 | (image :file "arduino-to-deck/2-twist-tighten-drill-teeth.png")) |
57 | [while holding the drill bit, twist end of the drill to tighten |
58 | the teeth. |
59 | make sure that the teeth end up gripping the flat part of |
60 | the drill bit.])) |
ff0f6a78 |
61 | (subsubsection |
7bf575b8 |
62 | :title [holding drill] |
63 | (p [hold the drill with one hand on the handle and trigger. |
64 | put the other hand on the orange nozzle, before the |
65 | black spinning part.])) |
c04a9631 |
66 | (subsubsection |
67 | :title [arduino placement] |
68 | (p [the arduino should be placed as shown in this picture.] |
cf59d996 |
69 | (figure :legend "arduino to deck / place arduino" |
6fc3d47b |
70 | (image :file "arduino-to-deck/3-place-arduino.png"))) |
71 | (p [here's a closeup] |
c1732375 |
72 | (figure :legend "arduino to deck / place arduino closeup" |
0b5cd84e |
73 | (image :file |
74 | "arduino-to-deck/4-place-arduino-closeup.png")) |
75 | [the picture above shows where to place the arduino on the deck. |
76 | the arduino should line up with the holes on the deck. |
77 | this alignment line is highlighted in pink. |
78 | on the arduino, there's a hole on the top left, between the |
79 | orange reset button and black headers. |
80 | the green circle shows where the hole is. |
81 | the blue box encloses the arduino hole and two deck holes. |
82 | place the arduino hole mid-way between the two |
83 | deck holes.])) |
ff0f6a78 |
84 | (subsubsection |
59fef212 |
85 | :title [drilling])) |
86 | (subsection |
87 | :title [first screw] |
ff0f6a78 |
88 | (subsubsection |
9f651996 |
89 | :title [fastening arduino to deck using #6-32x3/8\" screw] |
90 | (p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is. |
91 | it is related to wire gauge. |
92 | bigger numbers mean larger screw. |
6e7c78dd |
93 | smaller numbers means smaller screws.] |
94 | (figure :legend "arduino to deck / #6-32 screw" |
95 | (image :file |
96 | "arduino-to-deck/6-32-screw.png"))) |
9f651996 |
97 | (p [check |
59fef212 |
98 | ,(itemize |
99 | (item |
9f651996 |
100 | [in the motor assembly, there are #4-40x1.25\" screws. |
101 | are those fatter, thinner, or the same thickness as the |
102 | #6-32x3/8\" screws?]))]) |
103 | (p [the "32" part is a measurement of how close the threads are to |
104 | each other. |
105 | this is related to the angle of the thread, which is also |
106 | called pitch. |
107 | it is a count of how many times the thread wraps around one |
108 | inch of the screw body.]) |
109 | (p [the head is the flat part where some tool, like the alan |
110 | wrench, can exert force to spin the screw.]) |
111 | (p [check |
59fef212 |
112 | ,(itemize |
9f651996 |
113 | (item [how many times will the thread wrap around one inch of |
114 | the screw body?]) |
115 | (item [what about 2 inches? |
116 | how many times will the thread wrap around two |
117 | inches of the screw body?]))])) |
ff0f6a78 |
118 | (subsubsection |
119 | :title [fasten the arduino board to the deck] |
120 | (p [push the 6-32 screw into the deck from the underside and at the |
121 | same time, spin the 6-32 screw clockwise while looking |
9f651996 |
122 | down on its head. |
123 | twist until the bottom of the screw is |
ff0f6a78 |
124 | about to stick out on the top side of the deck.]) |
125 | (p [hold the arduino board flat to the deck and line up the arduino |
9f651996 |
126 | hole so the screw can come up through it. |
127 | continue tightening the screw into the deck, spinning the same |
128 | direction as before. |
129 | tighten until the screw head touches the deck. |
130 | do not continue tightening after that.]) |
ff0f6a78 |
131 | (p [the arduino should still be flat against the deck still, just |
132 | as it was before tightening the screw.])) |
133 | (subsubsection |
134 | :title [assessment] |
135 | (p [does the arduino stay with the deck when the deck moves? |
136 | can the arduino board still rotate a few degrees? |
137 | warning, if you rotate the arduino board too much, you |
138 | will unscrew it from the deck and you'll have to screw it |
9f651996 |
139 | back in. |
140 | rotating a few degrees should be ok.])) |
ff0f6a78 |
141 | (subsubsection |
142 | :title [arduino board move relative to deck] |
143 | (p [without any screws, the arduino board can move independently of |
144 | the deck.]) |
145 | (p [with the first screw, the arduino can rotate around one point |
146 | on the deck.]))) |
24b6d750 |
147 | (subsection |
148 | :title [second hole and screw]) |
149 | (subsection |
150 | :title [third and fourth hole and screw])) |
57e11138 |
151 | (section |
152 | :title [breadboard]) |
3c0c7ca4 |
153 | (section |
390d8f01 |
154 | :title [battery packs] |
155 | (subsection |
156 | :title [leads]) |
157 | (subsection |
158 | :title [deck attachment])) |
3c0c7ca4 |
159 | (section |
5aa69c47 |
160 | :title [motors] |
161 | (subsection |
162 | :title [leads]) |
163 | (subsection |
164 | :title [mount]) |
165 | (subsection |
166 | :title [deck attachment])) |
3c0c7ca4 |
167 | (section |
1b593ec7 |
168 | :title [wheels] |
169 | (subsection |
170 | :title [tread]) |
171 | (subsection |
172 | :title [motor])) |
3c0c7ca4 |
173 | (section |
2ccf4ca9 |
174 | :title [caster] |
175 | (subsection |
176 | :title [deck placement])) |
3c0c7ca4 |
177 | (section |
6550a556 |
178 | :title [sonars] |
179 | (subsection |
180 | :title [deck placement]))) |
3c0c7ca4 |
181 | (chapter |
9fb37473 |
182 | :title [wiring and software] |
183 | (section |
f0876d62 |
184 | :title [serial] |
185 | (subsection |
1be43d04 |
186 | :title [software on computer] |
c3e8314c |
187 | (subsubsection |
1be43d04 |
188 | :title [arduino]) |
c3e8314c |
189 | (subsubsection |
1be43d04 |
190 | :title [fritzing])) |
f0876d62 |
191 | (subsection |
192 | :title [attach arduino and computer via cable]) |
193 | (subsection |
194 | :title [debugging common connection problems]) |
195 | (subsection |
196 | :title [arduino reset button])) |
9fb37473 |
197 | (section |
bb801164 |
198 | :title [left sonar] |
199 | (subsection |
200 | :title [breadboard connectivity]) |
201 | (subsection |
202 | :title [cable]) |
203 | (subsection |
cb7d1c68 |
204 | :title [arduino headers]) |
205 | (subsection |
206 | :title [sound cm per microsecond at sea level])) |
9fb37473 |
207 | (section |
9183d52b |
208 | :title [both sonars] |
209 | (subsection |
210 | :title [breadboard power rail] |
211 | (p [power rail can provide power to more than one device.]))) |
9fb37473 |
212 | (section |
805d6362 |
213 | :title [left motor] |
214 | (subsection |
215 | :title [arduino digital output]) |
216 | (subsection |
217 | :title [quad half h bridge, aka motor controller]) |
218 | (subsection |
219 | :title [motor battery])) |
9fb37473 |
220 | (section |
79d761bc |
221 | :title [both motors] |
222 | (subsection |
223 | :title [analogWrite])) |
9fb37473 |
224 | (section |
aedd9003 |
225 | :title [untethered] |
226 | (subsection |
227 | :title [arduino battery]) |
228 | (subsection |
229 | :title [off and on functions])) |
9fb37473 |
230 | (section |
28a2365e |
231 | :title [follow] |
232 | (subsection |
233 | :title [same wiring as untethered]) |
234 | (subsection |
235 | :title [set motor]) |
236 | (subsection |
237 | :title [go]) |
238 | (subsection |
239 | :title [determining speed])) |
9fb37473 |
240 | (section |
d460f45c |
241 | :title [stay on table] |
242 | (subsection |
243 | :title [stop]) |
244 | (subsection |
245 | :title [backup]) |
246 | (subsection |
247 | :title [turn around])))) |
37d286e7 |
248 | |
249 | ;; Copyright 2016 daniel watson |
250 | |
251 | ;; This file is part of challenge-bot. |
252 | |
253 | ;; challenge-bot is free software: you can redistribute it and/or modify |
254 | ;; it under the terms of the GNU Affero General Public License as |
255 | ;; published by the Free Software Foundation, either version 3 of the |
256 | ;; License, or (at your option) any later version. |
257 | |
258 | ;; challenge-bot is distributed in the hope that it will be useful, |
259 | ;; but WITHOUT ANY WARRANTY; without even the implied warranty of |
260 | ;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
261 | ;; GNU Affero General Public License for more details. |
262 | |
263 | ;; You should have received a copy of the GNU Affero General Public |
264 | ;; License along with challenge-bot. If not, see |
265 | ;; <http://www.gnu.org/licenses/>. |