37d286e7 |
1 | ;; tldr; AGPLv3+ |
2 | ;; copyright info at bottom |
3 | |
4 | (document |
5 | :title [challenge-bot] |
e15b7cb4 |
6 | (toc) |
37d286e7 |
7 | (chapter |
3c0c7ca4 |
8 | :title [mechanical] |
1625f486 |
9 | (p [let's build your robot!]) |
3c0c7ca4 |
10 | (section |
58c778a1 |
11 | :title [arduino to deck] |
4a423b08 |
12 | (p [let's attach the arduino to the deck.]) |
cf59d996 |
13 | (subsection |
14 | :title [required materials] |
b52bbb4b |
15 | (p [you will need the things in this picture.]) |
16 | (figure |
17 | :legend "arduino to deck / required materials" |
18 | (image :file |
19 | "0-arduino-to-deck/0-required-materials.png")) |
20 | (itemize |
21 | (item [medical kit with bandages]) |
22 | (item [safety goggles]) |
23 | (item [drill bit \(we will determine size in a moment\)]) |
24 | (item [drill]) |
25 | (item [alan wrench]) |
26 | (item [wood block]) |
27 | (item [arduino]) |
28 | (item [#6-32x3/8\", four of them]) |
29 | (item [robot deck, the white thing with a grid of holes]))) |
24b6d750 |
30 | (subsection |
59fef212 |
31 | :title [first hole] |
ff0f6a78 |
32 | (subsubsection |
52596bd0 |
33 | :title [choosing drill bit] |
23045a14 |
34 | (p [the arduino comes with holes in it already, so we will make |
35 | some choices around those holes. |
36 | choosing the right drill bit depends on what job you are |
37 | doing. |
38 | right now, we are making holes for screws to hold the |
39 | arduino to the deck. |
40 | there are two constraints between the hole and screw. |
41 | each hole needs to be big enough for the screw body to fit |
42 | through it. |
43 | the holes also need to be smaller than the screw's thread. |
44 | since there are holes on the arduino already, the screw was |
45 | chosen to match it. |
46 | the screw was chosen so that the hole on the arduino was |
47 | bigger than the screw body and smaller than its thread. |
48 | we will choose the biggest drill bit that fits through the |
49 | hole on the arduino, then use that to drill holes in the |
50 | deck.]) |
b52bbb4b |
51 | (p [here's a cross section of a screw in the deck]) |
52 | (figure :legend "screw cross section" |
53 | (image :file |
54 | "0-arduino-to-deck/screw-cross-section.png")) |
55 | (p [check]) |
2acfcb3e |
56 | (enumerate |
b52bbb4b |
57 | (item |
58 | [what would happen if the drill bit were larger than the |
59 | screw thread?]) |
60 | (item |
61 | [what would happen if the drill bit were smaller than the |
62 | screw body?]))) |
ff0f6a78 |
63 | (subsubsection |
ca8e4428 |
64 | :title [inserting drill bit] |
b52bbb4b |
65 | (figure :legend "arduino to deck / insert bit" |
66 | (image :file "0-arduino-to-deck/1-insert-bit.png")) |
67 | (p [insert the drill bit into the teeth of the drill. |
ca8e4428 |
68 | insert it far enough that the teeth will clamp on the |
3875c1ef |
69 | smooth part of the bit when they are tightened.]) |
b52bbb4b |
70 | (figure |
71 | :legend "arduino to deck / twist tighten drill teeth" |
72 | (image |
73 | :file "0-arduino-to-deck/2-twist-tighten-drill-teeth.png")) |
74 | (p [while holding the drill bit, twist end of the drill to tighten |
3875c1ef |
75 | the teeth. |
76 | make sure that the teeth end up gripping the flat part of |
1887fb16 |
77 | the drill bit.]) |
b52bbb4b |
78 | (p [check]) |
2acfcb3e |
79 | (enumerate |
b52bbb4b |
80 | (item |
81 | [where should the teeth clamp down on the drill bit?]) |
82 | (item |
83 | [what would happen if the teeth tightened on the recessed |
84 | part of the drill bit?]))) |
ff0f6a78 |
85 | (subsubsection |
7bf575b8 |
86 | :title [holding drill] |
87 | (p [hold the drill with one hand on the handle and trigger. |
88 | put the other hand on the orange nozzle, before the |
89 | black spinning part.])) |
c04a9631 |
90 | (subsubsection |
91 | :title [arduino placement] |
b52bbb4b |
92 | (p [the arduino should be placed as shown in this picture.]) |
93 | (figure :legend "arduino to deck / place arduino" |
94 | (image :file "0-arduino-to-deck/3-place-arduino.png")) |
95 | (p [here's a closeup]) |
96 | (figure :legend "arduino to deck / place arduino closeup" |
97 | (image :file |
98 | "0-arduino-to-deck/4-place-arduino-closeup.png")) |
99 | (p [the picture above shows where to place the arduino on the deck. |
0b5cd84e |
100 | the arduino should line up with the holes on the deck. |
101 | this alignment line is highlighted in pink. |
102 | on the arduino, there's a hole on the top left, between the |
103 | orange reset button and black headers. |
104 | the green circle shows where the hole is. |
105 | the blue box encloses the arduino hole and two deck holes. |
106 | place the arduino hole mid-way between the two |
543ad3c2 |
107 | deck holes.]) |
b52bbb4b |
108 | (p [check]) |
2acfcb3e |
109 | (enumerate |
b52bbb4b |
110 | (item |
111 | [should the arduino be upside-down?]) |
112 | (item |
113 | [what should the upper side of the arduino align with?]) |
114 | (item |
115 | [why not place the arduino up along the left side of the |
116 | robot?]))) |
ff0f6a78 |
117 | (subsubsection |
41ba7302 |
118 | :title [drilling practice] |
b52bbb4b |
119 | (p [strength check]) |
120 | (itemize |
121 | (item [put on safety goggles]) |
122 | (item [unplug drill]) |
123 | (item [hold drill in one hand]) |
124 | (item [point drill at the ground]) |
125 | (item [point drill at the wall])) |
126 | (p [steps for drilling into wood block]) |
127 | (itemize |
128 | (item [plug in the drill]) |
129 | (item [place the drill bit in position]) |
130 | (item [bring the drill up to full speed, and keep it at full |
131 | speed while lowering and raising the drill]) |
132 | (item [push down until the drill bit has passed through an inch |
133 | of the wood block]) |
134 | (item [keep the drill at full speed]) |
135 | (item [stop before the drill smashes into the wood block]) |
136 | (item [keep the drill at full speed by holding the trigger]) |
137 | (item [bring the drill straight back up]) |
138 | (item [hold the trigger down to keep the drill at full speed]) |
139 | (item [once the drill is back out of the hole, let go of the |
140 | trigger])) |
141 | (p [check]) |
2acfcb3e |
142 | (enumerate |
b52bbb4b |
143 | (item |
144 | [should the drill be at full speed while the drill bit is |
145 | going down into the wood and coming back up?]) |
146 | (item |
147 | [how do you keep the drill at full speed?]) |
148 | (item |
149 | [what would happen if the drill bit were not at full |
150 | speed?]) |
151 | (item |
152 | [what would happen if the drill were twisted sideways while |
153 | the drill bit were in the wood?]))) |
41ba7302 |
154 | (subsubsection |
7a744a6b |
155 | :title [drilling the first screw hole] |
41ba7302 |
156 | (itemize |
157 | (item [place the drill bit in position]) |
158 | (item [bring the drill up to full speed, and keep it full speed]) |
159 | (item [push down until the drill bit has passed through the |
160 | deck]) |
161 | (item [keep the drill at full speed]) |
162 | (item [stop before the drill smashes into the arduino]) |
163 | (item [keep the drill at full speed by holding the trigger]) |
164 | (item [bring the drill straight back up]) |
165 | (item [hold the trigger down to keep the drill at full speed]) |
166 | (item [once the drill is back out of the hole, let go of the |
167 | trigger])) |
b52bbb4b |
168 | (p [check]) |
2acfcb3e |
169 | (enumerate |
b52bbb4b |
170 | (item |
171 | [should the drill be at full speed while the drill bit is |
172 | going down into the wood and coming back up?]) |
173 | (item |
174 | [what would happen if the drill bit were not at full speed?]) |
175 | (item [how do you keep the drill at full speed?])))) |
59fef212 |
176 | (subsection |
177 | :title [first screw] |
ff0f6a78 |
178 | (subsubsection |
9f651996 |
179 | :title [fastening arduino to deck using #6-32x3/8\" screw] |
180 | (p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is. |
181 | it is related to wire gauge. |
4e2c2b29 |
182 | bigger numbers mean larger screws. |
b52bbb4b |
183 | smaller numbers means smaller screws.]) |
184 | (figure :legend "arduino to deck / #6-32 screw" |
185 | (image :file "0-arduino-to-deck/6-32-screw.png")) |
186 | (p [check]) |
2acfcb3e |
187 | (enumerate |
b52bbb4b |
188 | (item |
189 | [in the motor assembly, there are #4-40x1.25\" screws. |
190 | are those fatter, thinner, or the same thickness as the |
191 | #6-32x3/8\" screws?])) |
5747a610 |
192 | (p [the "32" part of "#6-32x3/8\"" is a measurement of how close |
193 | the threads are to each other. |
9f651996 |
194 | this is related to the angle of the thread, which is also |
195 | called pitch. |
196 | it is a count of how many times the thread wraps around one |
197 | inch of the screw body.]) |
198 | (p [the head is the flat part where some tool, like the alan |
199 | wrench, can exert force to spin the screw.]) |
b52bbb4b |
200 | (p [check]) |
2acfcb3e |
201 | (enumerate |
b52bbb4b |
202 | (item [how many times will the thread wrap around one inch of |
203 | the screw body?]) |
204 | (item [what about 2 inches? |
205 | how many times will the thread wrap around two |
206 | inches of the screw body?]) |
207 | (item [where can a tool exert turning force on the screw?]))) |
ff0f6a78 |
208 | (subsubsection |
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. |
fdf53d2d |
225 | continue tightening the screw into the deck, spinning the |
226 | same direction as before. |
9f651996 |
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.]) |
b52bbb4b |
231 | (p [check]) |
2acfcb3e |
232 | (enumerate |
b52bbb4b |
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] |
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 |
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 |
b52bbb4b |
264 | rotation.]) |
265 | (figure |
266 | :legend "arduino to deck / keep holes far apart" |
267 | (image |
268 | :file "0-arduino-to-deck/keep-holes-far-apart.png"))) |
e3a31106 |
269 | (subsubsection |
96401b17 |
270 | :title [drilling and attaching second screw] |
e3a31106 |
271 | (p [to drill the second hole, follow the same steps as drilling the |
272 | first hole. |
273 | hold the arduino down as before, and drill through the hole |
6ef8240f |
274 | furthest away from the first hole. |
275 | then insert and tighten the screw as before.]))) |
24b6d750 |
276 | (subsection |
a5939c50 |
277 | :title [third and fourth hole and screw] |
278 | (p [even though the arduino is pretty well attached with just 2 |
279 | screws, we will add a third and fourth. |
280 | this gives practice drilling and tightening screws. |
aa71ea44 |
281 | it also keeps the arduino fixed even more rigidly.])) |
282 | (subsection |
283 | :title [assessment of arduino deck attachment] |
284 | (itemize |
285 | (item [you should now be able to grab the deck and shake it. |
286 | the arduino should stay firmly in place while you do.]) |
287 | (item [the arduino should be close to but not touching an edge.]) |
288 | (item [there should be no warping on the arduino. |
289 | this could happen if the screws are too tight.])))) |
57e11138 |
290 | (section |
17b1f3ea |
291 | :title [breadboard] |
292 | (p [next, let's attach other parts to the deck. |
293 | we'll start with the breadboard. |
294 | there are many ways to do this, but one handy approach is |
295 | glue dots. |
296 | glue dots can be placed easily, are good at attaching flat |
297 | surfaces that directly touch and do not get much stress.]) |
b52bbb4b |
298 | (figure :legend "breadboard to deck / required materials" |
299 | (image |
300 | :file "1-breadboard-to-deck/0-required-materials.png")) |
301 | (p [for this section, we will need the deck with arduino attached, |
302 | breadboard, and glue dots.]) |
303 | (figure :legend "breadboard to deck / video" |
304 | (video |
bb5ca604 |
305 | :file "1-breadboard-to-deck/0-breadboard-to-deck.ogv")) |
306 | (enumerate |
307 | (item [take your breadboard out of its bag.]) |
308 | (item [peel the backing.]) |
309 | (item [put the shiny medal plate on the back.]) |
310 | (item [break 4 glue dots away from the rest. put the rest back |
311 | into the bag.]) |
312 | (item [break off a glue dot from the group of 4, and peel away the |
313 | backing, exposing a sticky side.]) |
314 | (item [put the glue dot on one corner of the shiny side of the |
315 | breadboard. |
316 | make sure to push it down firmly.]) |
317 | (item [repeat for the other corners.]) |
318 | (item [put the breadboard on the center of the deck. |
319 | position it so the black chip is on the right, and the |
320 | blue line is up against the arduino.]) |
92d613dd |
321 | (item [press firmly in each of the corners.])) |
322 | (p [check]) |
2acfcb3e |
323 | (enumerate |
92d613dd |
324 | (item [should the black chip be on the right or the left?]) |
325 | (item [how many glue dots should be on the breadboard?]))) |
3c0c7ca4 |
326 | (section |
390d8f01 |
327 | :title [battery packs] |
328 | (subsection |
2a5771b0 |
329 | :title [leads] |
0315bca5 |
330 | (subsubsection |
331 | :title [strip] |
332 | (p ["leads" are the wires coming out of the battery pack. |
333 | prepare the leads of the batteries by stripping them and |
334 | placing heat shrink on them. |
335 | your battery packs are not attached to your deck yet, |
336 | but that will be the next step.]) |
337 | (figure :legend "batteries / prepare leads / stripping" |
338 | (video |
339 | :file "2-batteries/0-prepare-leads/0-strip.ogv")) |
340 | (enumerate |
341 | (item (bold [do not pick up batteries by their leads!])) |
342 | (item [strip the leads a tiny bit at a time. |
343 | keep stripping until a total of an inch is stripped. |
344 | the leads are made of tons of tiny wires that will |
345 | tear apart if too much insulation is stripped at |
346 | once. |
347 | wire made of a bunch of tiny wires |
348 | is "stranded wire".]) |
349 | (item [strip both leads of both batteries.]) |
350 | (item [then place heat shrink on every lead. |
351 | make sure the heat shrink is either clear or matches |
352 | the color of the lead.])) |
353 | (p [check]) |
2acfcb3e |
354 | (enumerate |
0315bca5 |
355 | (item [should you pick up a battery by its leads?]) |
356 | (item [should you strip the leads a large amount at a time?]) |
357 | (item [what's the name of wires made of a bunch of tiny |
358 | wires?]))) |
359 | (subsubsection |
360 | :title [wrap] |
361 | (p [do the next 2 sections with just one lead at a time. |
362 | wrap, then solder one battery lead before moving on to the |
363 | next. |
364 | wrap the stranded wire around a solid core wire, as shown |
365 | in this video.]) |
366 | (figure :legend "batteries / prepare leads / wrap" |
367 | (video |
368 | :file "2-batteries/0-prepare-leads/1-wrap.ogv")) |
369 | (p [the solid core wire is the stiff short wire. |
370 | it is much easier to poke into the breadboard.]) |
371 | (p [check]) |
2acfcb3e |
372 | (enumerate |
6a014bd1 |
373 | (item [why are we using a solid core wire?]))) |
374 | (subsubsection |
375 | :title [solder] |
376 | (p [do this next section and the previous with just one lead at a |
377 | time. |
378 | solder the stranded wire and solid core wire, as shown |
379 | in this video.]) |
380 | (figure :legend "batteries / prepare leads / solder" |
381 | (video |
382 | :file "2-batteries/0-prepare-leads/2-solder.ogv")) |
383 | (p [soldering is the process of joining 2 metal things with |
384 | solder.]) |
385 | (enumerate |
386 | (item [use the helping hands to grab the wires and hold them in |
387 | place.]) |
388 | (item [clean off the tip of the soldering iron if it has been |
389 | sitting still for a while. |
390 | this cleans off corroded metal.]) |
391 | (item [apply some solder directly to the tip of the soldering |
392 | iron. |
393 | this creates a pool of solder on the tip. |
394 | we will use this to transfer heat to the wires.]) |
395 | (item [put the soldering iron up to the wires. |
396 | we want the wires to be hot enough to melt the |
397 | solder. |
398 | at the same time, poke the solder into the wire. |
399 | the solder will start melting and quickly spread to |
400 | hot parts of the wire. |
401 | there will be smoke.]) |
402 | (item [move the solder away, then move the iron away.])) |
403 | (p [check]) |
2acfcb3e |
404 | (enumerate |
6a014bd1 |
405 | (item [should the wires melt the solder?]) |
406 | (item [why should we clean off the tip of the soldering iron?]) |
407 | (item [why do we put more solder back on the tip of the iron?])))) |
390d8f01 |
408 | (subsection |
7b690119 |
409 | :title [deck attachment] |
410 | (subsubsection |
411 | :title [motor battery pack attachment] |
412 | (p [attach the motor battery pack to the robot deck.]) |
413 | (figure |
414 | :legend "batteries / placement / motor pack" |
415 | (video |
416 | :file "2-batteries/1-placement/0-motor-battery-pack.ogv")) |
417 | (p [we will use glue dots to attach the motor battery pack to the |
418 | deck. |
419 | the pack could be placed anywhere, but we will place it |
420 | in the lower left side of the robot. |
421 | this battery pack has 4 AA batteries in it. |
422 | each battery has 1.5 volts difference between the positive |
423 | and negative side. |
424 | the batteries are connected in series. |
425 | the total voltage difference for the whole battery pack is |
426 | the sum of the individual voltages, which is 6 volts.]) |
427 | (enumerate |
428 | (item [make sure you are placing dots on the side of the battery |
429 | pack without the on/off switch.]) |
430 | (item [peel off a glue dot for each of the corners of the |
431 | battery pack.]) |
432 | (item [when placing the battery pack, make sure the screw hole |
433 | aligns with a hole on the deck.])) |
434 | (p [check]) |
435 | (enumerate |
436 | (item [why place the glue dots on the side of the battery pack |
15ba87a4 |
437 | without the on/off switch?]))) |
438 | (subsubsection |
439 | :title [arduino battery pack attachment] |
440 | (p [attach the arduino battery pack to the robot deck.]) |
441 | (figure |
442 | :legend "batteries / placement / arduino pack" |
443 | (video |
444 | :file "2-batteries/1-placement/1-arduino-battery-pack.ogv")) |
445 | (p [next, we will attach the arduino battery pack to the deck. |
446 | again, the pack could be placed anywhere, but we will |
447 | place it in the lower right side of the robot.]) |
448 | (enumerate |
449 | (item [make sure you are placing dots on the side of the battery |
450 | pack without the on/off switch, just as before.]) |
451 | (item [peel off a glue dot for each end of the pack.]) |
452 | (item [when placing the battery pack, make sure the screw hole |
453 | aligns with a hole on the deck.])) |
454 | (p [check]) |
455 | (enumerate |
456 | (item [why align the screw with a hole on the deck?]))))) |
3c0c7ca4 |
457 | (section |
5aa69c47 |
458 | :title [motors] |
459 | (subsection |
6205157f |
460 | :title [leads] |
461 | (p [attach leads to the motors to supply the motor with power.]) |
462 | (figure |
463 | :legend "motors / leads" |
464 | (video |
465 | :file "3-motor-assemblies/0-leads.ogv")) |
466 | (enumerate |
467 | (item [strip both the green and yellow wire on both ends. |
468 | strip one side only 1/8 inch. |
469 | strip the other side about 1/4 inch.]) |
470 | (item [use the end of the wire stripper to bend a hook in the wire. |
471 | make this hook on the side of the wire with a smaller |
472 | exposed section.]) |
473 | (item [do not bend the wire so that the exposed wire runs alongside |
474 | the sheath.]) |
475 | (item [put the hooks through the tabs on the motor. |
476 | make sure to place the green and yellow wire on the |
477 | correct side of the motor. |
478 | match the side of the motor that already has wires |
479 | attached. |
480 | wrap the rest of the wire around the motor in order to |
481 | keep the wire from falling off.]) |
482 | (item [once the wire is in place, wrap solder around the motor tab |
483 | and wire. |
484 | heat up the solder, motor tab and wire with the |
485 | soldering iron.]) |
486 | (item [test the solder joint with the 9v battery. |
487 | touch the battery leads to the motor leads. |
488 | make sure the 9v battery is on. |
489 | if the motor moves, the solder joint is good!]) |
490 | (item [get section of electrical tape, roughly 100mm |
491 | (about 4 inches). |
492 | slide the middle of the tape under the wires. |
493 | this tape will keep the solder joints away from the |
494 | metal band around the motor.]) |
495 | (item [the zip tie will hold the wires to the motor. |
496 | wrap the zip tie on the round part of the motor where |
497 | it meets the square portion of the motor. |
498 | this will provide mechanical support for the solder |
499 | joints. |
500 | once the zip tie is wrapped, use wire strippers to cut |
501 | off the excess zip tie.]) |
502 | (item [cover the solder joint with hot glue. |
503 | this will further keep the solder joints from corroding |
504 | in the air's moisture. |
505 | it will also keep the joint safe from anything poking |
506 | in.])) |
507 | (p [check]) |
508 | (enumerate |
509 | (item [should the electrical tape go between the wires and the |
510 | metal band?]) |
511 | (item [are the motor tabs strong?]) |
512 | (item [what are we doing to reinforce the motor tabs mechanically?]) |
513 | (item [does hot glue make an electrical connection?]))) |
50a2c61c |
514 | (subsection |
515 | :title [motor mount] |
516 | (p [now let's attach the motor mount to the motor.]) |
517 | (subsubsection |
518 | :title [angle bracket to motor mount] |
519 | (p [first, attach the angle brackets to the motor mounts with |
520 | #6-32x3/8 inch screws.]) |
521 | (figure |
522 | :legend "motors / mount / angle bracket" |
523 | (video |
524 | :file "3-motor-assemblies/1-motor-mount/0-angle-brackets.ogv")) |
525 | (p [if you cover up 2 of the holes on the motor mount, the |
526 | remaining holes look like a surprised face. |
527 | these are the holes to attach the angle brackets. |
528 | make sure the angle brackets on one motor mount are attached |
529 | in a mirror image to the other.]) |
530 | (p [check]) |
531 | (enumerate |
532 | (item [should the motor mounts have angle brackets attached in |
533 | a mirror image fashion?]) |
534 | (item [why should the motor mounts have angle brackets attached in |
535 | a mirror image fashion?]))) |
536 | (subsubsection |
42d5aff2 |
537 | :title [motor mount to motor] |
538 | (p [now attach the motor mount with angle brackets to the motor.]) |
539 | (figure |
540 | :legend "motor / mount / mount to motor" |
541 | (video |
542 | :file |
543 | "3-motor-assemblies/1-motor-mount/1-motor-mount-to-motor.ogv")) |
544 | (p [we will attach the motor mount to the motor using #4 bolts. |
545 | these screws are thinner than the #6 bolts we have used. |
546 | to clamp down on the motor, we will use a #4 nut. |
547 | the white side of the nut should face outward. |
548 | this section of the nut will keep the nut from jiggling |
549 | loose off the bolt during normal operation. |
550 | the head of the #4 bolt is a philips head, so we will |
551 | use a philips head driver for it.]) |
552 | (p [check]) |
553 | (enumerate |
554 | (item [is the #4 bolt thicker or thinner than the #6?]) |
555 | (item [do you have a ratcheting socket wrench, or not?])))) |
5aa69c47 |
556 | (subsection |
32d7d032 |
557 | :title [deck attachment] |
558 | (p [now that the motor assemblies are together, we will attach them |
559 | to the deck.]) |
560 | (figure |
561 | :legend "motor / motor assembly to deck" |
562 | (video |
563 | :file "3-motor-assemblies/2-motor-assembly-to-deck.ogv")) |
564 | (p [when attaching the motor assembly to the deck, be sure to push |
565 | the assembly as far outward from the center of the robot |
566 | as you can while tightening it down. |
567 | this will give more clearance to the wheels of the robot |
568 | so they do not rub the deck.]))) |
23599b44 |
569 | (section |
570 | :title [caster] |
571 | (p [the caster will go at the back of the robot and provide a third |
572 | point of contact for the robot, making it easier for it to |
573 | balance.]) |
574 | (figure |
575 | :legend "caster" |
576 | (video :file "4-caster-to-deck.ogv")) |
577 | (p [check]) |
578 | (enumerate |
579 | (item [what would happen if the robot did not have a caster?]))) |
3c0c7ca4 |
580 | (section |
1b593ec7 |
581 | :title [wheels] |
b863c7ae |
582 | (p [now we will attach the wheels. |
583 | this makes the motor movement transform into robot movement!]) |
584 | (figure |
585 | :legend "wheel" |
586 | (video :file "5-wheel-to-robot-assembly.ogv")) |
587 | (p [check]) |
588 | (enumerate |
589 | (item [does the robot's wheels scrape the deck?]) |
590 | (item [what would happen if the robot had no wheels?]) |
591 | (item [what does the tread do?]) |
592 | (item [what is the tread?]) |
593 | (item [what kind of screw is used?]))) |
3c0c7ca4 |
594 | (section |
6550a556 |
595 | :title [sonars] |
6143e39f |
596 | (p [we are almost done with mechanical assembly! |
597 | this next step is to add the sonar sensors to the robot. |
598 | sonar sensors are what the robot uses to detect distances. |
599 | it sends out a signal, then listens for a response and |
600 | keeps track of how long it takes.]) |
601 | (figure |
602 | :legend "sonar sensors" |
603 | (video :file "6-sonar-sensors-to-deck.ogv")) |
604 | (p [check]) |
605 | (enumerate |
606 | (item [are your sonar sensors pointy pins facing in toward the |
607 | arduino?]) |
608 | (item [was it difficult to get the sonar into the holder?]) |
609 | (item [what would happen if it was easy to slip the sonar sensor |
610 | into the sonar holder?])))) |
3c0c7ca4 |
611 | (chapter |
9fb37473 |
612 | :title [wiring and software] |
613 | (section |
f0876d62 |
614 | :title [serial] |
615 | (subsection |
1be43d04 |
616 | :title [software on computer] |
c3e8314c |
617 | (subsubsection |
1be43d04 |
618 | :title [arduino]) |
c3e8314c |
619 | (subsubsection |
1be43d04 |
620 | :title [fritzing])) |
f0876d62 |
621 | (subsection |
622 | :title [attach arduino and computer via cable]) |
623 | (subsection |
624 | :title [debugging common connection problems]) |
625 | (subsection |
626 | :title [arduino reset button])) |
9fb37473 |
627 | (section |
bb801164 |
628 | :title [left sonar] |
629 | (subsection |
630 | :title [breadboard connectivity]) |
631 | (subsection |
632 | :title [cable]) |
633 | (subsection |
cb7d1c68 |
634 | :title [arduino headers]) |
635 | (subsection |
636 | :title [sound cm per microsecond at sea level])) |
9fb37473 |
637 | (section |
9183d52b |
638 | :title [both sonars] |
639 | (subsection |
640 | :title [breadboard power rail] |
641 | (p [power rail can provide power to more than one device.]))) |
9fb37473 |
642 | (section |
805d6362 |
643 | :title [left motor] |
644 | (subsection |
645 | :title [arduino digital output]) |
646 | (subsection |
647 | :title [quad half h bridge, aka motor controller]) |
648 | (subsection |
649 | :title [motor battery])) |
9fb37473 |
650 | (section |
79d761bc |
651 | :title [both motors] |
652 | (subsection |
653 | :title [analogWrite])) |
9fb37473 |
654 | (section |
aedd9003 |
655 | :title [untethered] |
656 | (subsection |
657 | :title [arduino battery]) |
658 | (subsection |
659 | :title [off and on functions])) |
9fb37473 |
660 | (section |
28a2365e |
661 | :title [follow] |
662 | (subsection |
663 | :title [same wiring as untethered]) |
664 | (subsection |
665 | :title [set motor]) |
666 | (subsection |
667 | :title [go]) |
668 | (subsection |
669 | :title [determining speed])) |
9fb37473 |
670 | (section |
d460f45c |
671 | :title [stay on table] |
672 | (subsection |
673 | :title [stop]) |
674 | (subsection |
675 | :title [backup]) |
676 | (subsection |
677 | :title [turn around])))) |
37d286e7 |
678 | |
679 | ;; Copyright 2016 daniel watson |
680 | |
681 | ;; This file is part of challenge-bot. |
682 | |
683 | ;; challenge-bot is free software: you can redistribute it and/or modify |
684 | ;; it under the terms of the GNU Affero General Public License as |
685 | ;; published by the Free Software Foundation, either version 3 of the |
686 | ;; License, or (at your option) any later version. |
687 | |
688 | ;; challenge-bot is distributed in the hope that it will be useful, |
689 | ;; but WITHOUT ANY WARRANTY; without even the implied warranty of |
690 | ;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
691 | ;; GNU Affero General Public License for more details. |
692 | |
693 | ;; You should have received a copy of the GNU Affero General Public |
694 | ;; License along with challenge-bot. If not, see |
695 | ;; <http://www.gnu.org/licenses/>. |