[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 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
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?]))])
	191	(p [the "32" part is a measurement of how close the threads are to
	192	each other.
	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
	205	inches of the screw body?]))]))
ff0f6a78	206	(subsubsection
	207	:title [fasten the arduino board to the deck]
	208	(p [push the 6-32 screw into the deck from the underside and at the
	209	same time, spin the 6-32 screw clockwise while looking
9f651996	210	down on its head.
9f651996	211	twist until the bottom of the screw is
ff0f6a78	212	about to stick out on the top side of the deck.])
ff0f6a78	213	(p [hold the arduino board flat to the deck and line up the arduino
9f651996	214	hole so the screw can come up through it.
	215	continue tightening the screw into the deck, spinning the same
	216	direction as before.
	217	tighten until the screw head touches the deck.
	218	do not continue tightening after that.])
ff0f6a78	219	(p [the arduino should still be flat against the deck still, just
	220	as it was before tightening the screw.]))
	221	(subsubsection
	222	:title [assessment]
	223	(p [does the arduino stay with the deck when the deck moves?
	224	can the arduino board still rotate a few degrees?
	225	warning, if you rotate the arduino board too much, you
	226	will unscrew it from the deck and you'll have to screw it
9f651996	227	back in.
9f651996	228	rotating a few degrees should be ok.]))
ff0f6a78	229	(subsubsection
	230	:title [arduino board move relative to deck]
	231	(p [without any screws, the arduino board can move independently of
	232	the deck.])
	233	(p [with the first screw, the arduino can rotate around one point
	234	on the deck.])))
24b6d750	235	(subsection
	236	:title [second hole and screw])
	237	(subsection
	238	:title [third and fourth hole and screw]))
57e11138	239	(section
57e11138	240	:title [breadboard])
3c0c7ca4	241	(section
390d8f01	242	:title [battery packs]
	243	(subsection
	244	:title [leads])
	245	(subsection
	246	:title [deck attachment]))
3c0c7ca4	247	(section
5aa69c47	248	:title [motors]
	249	(subsection
	250	:title [leads])
	251	(subsection
	252	:title [mount])
	253	(subsection
	254	:title [deck attachment]))
3c0c7ca4	255	(section
1b593ec7	256	:title [wheels]
	257	(subsection
	258	:title [tread])
	259	(subsection
	260	:title [motor]))
3c0c7ca4	261	(section
2ccf4ca9	262	:title [caster]
	263	(subsection
	264	:title [deck placement]))
3c0c7ca4	265	(section
6550a556	266	:title [sonars]
	267	(subsection
	268	:title [deck placement])))
3c0c7ca4	269	(chapter
9fb37473	270	:title [wiring and software]
9fb37473	271	(section
f0876d62	272	:title [serial]
f0876d62	273	(subsection
1be43d04	274	:title [software on computer]
c3e8314c	275	(subsubsection
1be43d04	276	:title [arduino])
c3e8314c	277	(subsubsection
1be43d04	278	:title [fritzing]))
f0876d62	279	(subsection
	280	:title [attach arduino and computer via cable])
	281	(subsection
	282	:title [debugging common connection problems])
	283	(subsection
	284	:title [arduino reset button]))
9fb37473	285	(section
bb801164	286	:title [left sonar]
	287	(subsection
	288	:title [breadboard connectivity])
	289	(subsection
	290	:title [cable])
	291	(subsection
cb7d1c68	292	:title [arduino headers])
	293	(subsection
	294	:title [sound cm per microsecond at sea level]))
9fb37473	295	(section
9183d52b	296	:title [both sonars]
	297	(subsection
	298	:title [breadboard power rail]
	299	(p [power rail can provide power to more than one device.])))
9fb37473	300	(section
805d6362	301	:title [left motor]
	302	(subsection
	303	:title [arduino digital output])
	304	(subsection
	305	:title [quad half h bridge, aka motor controller])
	306	(subsection
	307	:title [motor battery]))
9fb37473	308	(section
79d761bc	309	:title [both motors]
	310	(subsection
	311	:title [analogWrite]))
9fb37473	312	(section
aedd9003	313	:title [untethered]
	314	(subsection
	315	:title [arduino battery])
	316	(subsection
	317	:title [off and on functions]))
9fb37473	318	(section
28a2365e	319	:title [follow]
	320	(subsection
	321	:title [same wiring as untethered])
	322	(subsection
	323	:title [set motor])
	324	(subsection
	325	:title [go])
	326	(subsection
	327	:title [determining speed]))
9fb37473	328	(section
d460f45c	329	:title [stay on table]
	330	(subsection
	331	:title [stop])
	332	(subsection
	333	:title [backup])
	334	(subsection
	335	:title [turn around]))))
37d286e7	336
	337	;; Copyright 2016 daniel watson
	338
	339	;; This file is part of challenge-bot.
	340
	341	;; challenge-bot is free software: you can redistribute it and/or modify
	342	;; it under the terms of the GNU Affero General Public License as
	343	;; published by the Free Software Foundation, either version 3 of the
	344	;; License, or (at your option) any later version.
	345
	346	;; challenge-bot is distributed in the hope that it will be useful,
	347	;; but WITHOUT ANY WARRANTY; without even the implied warranty of
	348	;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
	349	;; GNU Affero General Public License for more details.
	350
	351	;; You should have received a copy of the GNU Affero General Public
	352	;; License along with challenge-bot. If not, see
	353	;; <http://www.gnu.org/licenses/>.