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] |
b52bbb4b |
14 | (p [you will need the things in this picture.]) |
15 | (figure |
16 | :legend "arduino to deck / required materials" |
17 | (image :file |
18 | "0-arduino-to-deck/0-required-materials.png")) |
19 | (itemize |
20 | (item [medical kit with bandages]) |
21 | (item [safety goggles]) |
22 | (item [drill bit \(we will determine size in a moment\)]) |
23 | (item [drill]) |
24 | (item [alan wrench]) |
25 | (item [wood block]) |
26 | (item [arduino]) |
27 | (item [#6-32x3/8\", four of them]) |
28 | (item [robot deck, the white thing with a grid of holes]))) |
24b6d750 |
29 | (subsection |
59fef212 |
30 | :title [first hole] |
ff0f6a78 |
31 | (subsubsection |
52596bd0 |
32 | :title [choosing drill bit] |
23045a14 |
33 | (p [the arduino comes with holes in it already, so we will make |
34 | some choices around those holes. |
35 | choosing the right drill bit depends on what job you are |
36 | doing. |
37 | right now, we are making holes for screws to hold the |
38 | arduino to the deck. |
39 | there are two constraints between the hole and screw. |
40 | each hole needs to be big enough for the screw body to fit |
41 | through it. |
42 | the holes also need to be smaller than the screw's thread. |
43 | since there are holes on the arduino already, the screw was |
44 | chosen to match it. |
45 | the screw was chosen so that the hole on the arduino was |
46 | bigger than the screw body and smaller than its thread. |
47 | we will choose the biggest drill bit that fits through the |
48 | hole on the arduino, then use that to drill holes in the |
49 | deck.]) |
b52bbb4b |
50 | (p [here's a cross section of a screw in the deck]) |
51 | (figure :legend "screw cross section" |
52 | (image :file |
53 | "0-arduino-to-deck/screw-cross-section.png")) |
54 | (p [check]) |
2acfcb3e |
55 | (enumerate |
b52bbb4b |
56 | (item |
57 | [what would happen if the drill bit were larger than the |
58 | screw thread?]) |
59 | (item |
60 | [what would happen if the drill bit were smaller than the |
61 | screw body?]))) |
ff0f6a78 |
62 | (subsubsection |
ca8e4428 |
63 | :title [inserting drill bit] |
b52bbb4b |
64 | (figure :legend "arduino to deck / insert bit" |
65 | (image :file "0-arduino-to-deck/1-insert-bit.png")) |
66 | (p [insert the drill bit into the teeth of the drill. |
ca8e4428 |
67 | insert it far enough that the teeth will clamp on the |
3875c1ef |
68 | smooth part of the bit when they are tightened.]) |
b52bbb4b |
69 | (figure |
70 | :legend "arduino to deck / twist tighten drill teeth" |
71 | (image |
72 | :file "0-arduino-to-deck/2-twist-tighten-drill-teeth.png")) |
73 | (p [while holding the drill bit, twist end of the drill to tighten |
3875c1ef |
74 | the teeth. |
75 | make sure that the teeth end up gripping the flat part of |
1887fb16 |
76 | the drill bit.]) |
b52bbb4b |
77 | (p [check]) |
2acfcb3e |
78 | (enumerate |
b52bbb4b |
79 | (item |
80 | [where should the teeth clamp down on the drill bit?]) |
81 | (item |
82 | [what would happen if the teeth tightened on the recessed |
83 | part of the drill bit?]))) |
ff0f6a78 |
84 | (subsubsection |
7bf575b8 |
85 | :title [holding drill] |
86 | (p [hold the drill with one hand on the handle and trigger. |
87 | put the other hand on the orange nozzle, before the |
88 | black spinning part.])) |
c04a9631 |
89 | (subsubsection |
90 | :title [arduino placement] |
b52bbb4b |
91 | (p [the arduino should be placed as shown in this picture.]) |
92 | (figure :legend "arduino to deck / place arduino" |
93 | (image :file "0-arduino-to-deck/3-place-arduino.png")) |
94 | (p [here's a closeup]) |
95 | (figure :legend "arduino to deck / place arduino closeup" |
96 | (image :file |
97 | "0-arduino-to-deck/4-place-arduino-closeup.png")) |
98 | (p [the picture above shows where to place the arduino on the deck. |
0b5cd84e |
99 | the arduino should line up with the holes on the deck. |
100 | this alignment line is highlighted in pink. |
101 | on the arduino, there's a hole on the top left, between the |
102 | orange reset button and black headers. |
103 | the green circle shows where the hole is. |
104 | the blue box encloses the arduino hole and two deck holes. |
105 | place the arduino hole mid-way between the two |
543ad3c2 |
106 | deck holes.]) |
b52bbb4b |
107 | (p [check]) |
2acfcb3e |
108 | (enumerate |
b52bbb4b |
109 | (item |
110 | [should the arduino be upside-down?]) |
111 | (item |
112 | [what should the upper side of the arduino align with?]) |
113 | (item |
114 | [why not place the arduino up along the left side of the |
115 | robot?]))) |
ff0f6a78 |
116 | (subsubsection |
41ba7302 |
117 | :title [drilling practice] |
b52bbb4b |
118 | (p [strength check]) |
119 | (itemize |
120 | (item [put on safety goggles]) |
121 | (item [unplug drill]) |
122 | (item [hold drill in one hand]) |
123 | (item [point drill at the ground]) |
124 | (item [point drill at the wall])) |
125 | (p [steps for drilling into wood block]) |
126 | (itemize |
127 | (item [plug in the drill]) |
128 | (item [place the drill bit in position]) |
129 | (item [bring the drill up to full speed, and keep it at full |
130 | speed while lowering and raising the drill]) |
131 | (item [push down until the drill bit has passed through an inch |
132 | of the wood block]) |
133 | (item [keep the drill at full speed]) |
134 | (item [stop before the drill smashes into the wood block]) |
135 | (item [keep the drill at full speed by holding the trigger]) |
136 | (item [bring the drill straight back up]) |
137 | (item [hold the trigger down to keep the drill at full speed]) |
138 | (item [once the drill is back out of the hole, let go of the |
139 | trigger])) |
140 | (p [check]) |
2acfcb3e |
141 | (enumerate |
b52bbb4b |
142 | (item |
143 | [should the drill be at full speed while the drill bit is |
144 | going down into the wood and coming back up?]) |
145 | (item |
146 | [how do you keep the drill at full speed?]) |
147 | (item |
148 | [what would happen if the drill bit were not at full |
149 | speed?]) |
150 | (item |
151 | [what would happen if the drill were twisted sideways while |
152 | the drill bit were in the wood?]))) |
41ba7302 |
153 | (subsubsection |
7a744a6b |
154 | :title [drilling the first screw hole] |
41ba7302 |
155 | (itemize |
156 | (item [place the drill bit in position]) |
157 | (item [bring the drill up to full speed, and keep it full speed]) |
158 | (item [push down until the drill bit has passed through the |
159 | deck]) |
160 | (item [keep the drill at full speed]) |
161 | (item [stop before the drill smashes into the arduino]) |
162 | (item [keep the drill at full speed by holding the trigger]) |
163 | (item [bring the drill straight back up]) |
164 | (item [hold the trigger down to keep the drill at full speed]) |
165 | (item [once the drill is back out of the hole, let go of the |
166 | trigger])) |
b52bbb4b |
167 | (p [check]) |
2acfcb3e |
168 | (enumerate |
b52bbb4b |
169 | (item |
170 | [should the drill be at full speed while the drill bit is |
171 | going down into the wood and coming back up?]) |
172 | (item |
173 | [what would happen if the drill bit were not at full speed?]) |
174 | (item [how do you keep the drill at full speed?])))) |
59fef212 |
175 | (subsection |
176 | :title [first screw] |
ff0f6a78 |
177 | (subsubsection |
9f651996 |
178 | :title [fastening arduino to deck using #6-32x3/8\" screw] |
179 | (p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is. |
180 | it is related to wire gauge. |
4e2c2b29 |
181 | bigger numbers mean larger screws. |
b52bbb4b |
182 | smaller numbers means smaller screws.]) |
183 | (figure :legend "arduino to deck / #6-32 screw" |
184 | (image :file "0-arduino-to-deck/6-32-screw.png")) |
185 | (p [check]) |
2acfcb3e |
186 | (enumerate |
b52bbb4b |
187 | (item |
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 |
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.]) |
b52bbb4b |
199 | (p [check]) |
2acfcb3e |
200 | (enumerate |
b52bbb4b |
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?]) |
206 | (item [where can a tool exert turning force on the screw?]))) |
ff0f6a78 |
207 | (subsubsection |
208 | :title [fasten the arduino board to the deck] |
8eba0b8b |
209 | (p [first we'll put the screw into the deck just enough so the deck |
210 | holds it in place. |
211 | then we will hold the arduino up to the screw and finish |
212 | tightening the screw down. |
213 | with the screw partially in, we do not have hold it as |
214 | rigidly while we are also holding the arduino and |
215 | the deck.]) |
c4ea89ee |
216 | (p [push the #6-32 screw into the deck from the underside. |
217 | the underside is the brown side. |
218 | at the same time, spin the 6-32 screw so it rotates |
219 | clockwise while looking down on its head. |
220 | twist until the tip of the screw is about to stick out on |
221 | the top side of the deck.]) |
ff0f6a78 |
222 | (p [hold the arduino board flat to the deck and line up the arduino |
9f651996 |
223 | hole so the screw can come up through it. |
fdf53d2d |
224 | continue tightening the screw into the deck, spinning the |
225 | same direction as before. |
9f651996 |
226 | tighten until the screw head touches the deck. |
227 | do not continue tightening after that.]) |
ff0f6a78 |
228 | (p [the arduino should still be flat against the deck still, just |
f9e58978 |
229 | as it was before tightening the screw.]) |
b52bbb4b |
230 | (p [check]) |
2acfcb3e |
231 | (enumerate |
b52bbb4b |
232 | (item [why do we insert the first screw partially before |
233 | holding up the arduino?]) |
234 | (item [which side of the deck is the top side?]))) |
ff0f6a78 |
235 | (subsubsection |
f17976bf |
236 | :title [assessment of the first screw] |
237 | (itemize |
7bca727f |
238 | (item [,(bold [warning]), if you rotate the arduino board too |
239 | much,you will unscrew it from the deck and you'll have to |
240 | screw it back in. |
241 | rotating a few degrees should be ok.]) |
f17976bf |
242 | (item [does the arduino stay with the deck when the deck moves?]) |
7bca727f |
243 | (item [can the arduino board still rotate a few degrees?])))) |
f17976bf |
244 | (subsection |
245 | :title [second hole and screw] |
ff0f6a78 |
246 | (subsubsection |
247 | :title [arduino board move relative to deck] |
248 | (p [without any screws, the arduino board can move independently of |
f17976bf |
249 | the deck. |
c305da78 |
250 | it can translate and rotate freely. |
f17976bf |
251 | with the first screw, the arduino can rotate around one |
763861dd |
252 | point on the deck and can no longer translate much.]) |
253 | (p [the second screw limits rotation a lot. |
254 | it also makes translation even more difficult. |
255 | it might even be too small to be detectable by directly |
256 | looking at it.]) |
257 | (p [to choose where the second hole and screw should go, we should |
258 | keep in mind that the goal is to attach the deck to the |
259 | arduino. |
260 | this means minimizing rotation and translation. |
261 | the picture below shows that the second hole should be as |
262 | far as possible from the first hole, since that minimizes |
b52bbb4b |
263 | rotation.]) |
264 | (figure |
265 | :legend "arduino to deck / keep holes far apart" |
266 | (image |
267 | :file "0-arduino-to-deck/keep-holes-far-apart.png"))) |
e3a31106 |
268 | (subsubsection |
96401b17 |
269 | :title [drilling and attaching second screw] |
e3a31106 |
270 | (p [to drill the second hole, follow the same steps as drilling the |
271 | first hole. |
272 | hold the arduino down as before, and drill through the hole |
6ef8240f |
273 | furthest away from the first hole. |
274 | then insert and tighten the screw as before.]))) |
24b6d750 |
275 | (subsection |
a5939c50 |
276 | :title [third and fourth hole and screw] |
277 | (p [even though the arduino is pretty well attached with just 2 |
278 | screws, we will add a third and fourth. |
279 | this gives practice drilling and tightening screws. |
aa71ea44 |
280 | it also keeps the arduino fixed even more rigidly.])) |
281 | (subsection |
282 | :title [assessment of arduino deck attachment] |
283 | (itemize |
284 | (item [you should now be able to grab the deck and shake it. |
285 | the arduino should stay firmly in place while you do.]) |
286 | (item [the arduino should be close to but not touching an edge.]) |
287 | (item [there should be no warping on the arduino. |
288 | this could happen if the screws are too tight.])))) |
57e11138 |
289 | (section |
17b1f3ea |
290 | :title [breadboard] |
291 | (p [next, let's attach other parts to the deck. |
292 | we'll start with the breadboard. |
293 | there are many ways to do this, but one handy approach is |
294 | glue dots. |
295 | glue dots can be placed easily, are good at attaching flat |
296 | surfaces that directly touch and do not get much stress.]) |
b52bbb4b |
297 | (figure :legend "breadboard to deck / required materials" |
298 | (image |
299 | :file "1-breadboard-to-deck/0-required-materials.png")) |
300 | (p [for this section, we will need the deck with arduino attached, |
301 | breadboard, and glue dots.]) |
302 | (figure :legend "breadboard to deck / video" |
303 | (video |
bb5ca604 |
304 | :file "1-breadboard-to-deck/0-breadboard-to-deck.ogv")) |
305 | (enumerate |
306 | (item [take your breadboard out of its bag.]) |
307 | (item [peel the backing.]) |
308 | (item [put the shiny medal plate on the back.]) |
309 | (item [break 4 glue dots away from the rest. put the rest back |
310 | into the bag.]) |
311 | (item [break off a glue dot from the group of 4, and peel away the |
312 | backing, exposing a sticky side.]) |
313 | (item [put the glue dot on one corner of the shiny side of the |
314 | breadboard. |
315 | make sure to push it down firmly.]) |
316 | (item [repeat for the other corners.]) |
317 | (item [put the breadboard on the center of the deck. |
318 | position it so the black chip is on the right, and the |
319 | blue line is up against the arduino.]) |
92d613dd |
320 | (item [press firmly in each of the corners.])) |
321 | (p [check]) |
2acfcb3e |
322 | (enumerate |
92d613dd |
323 | (item [should the black chip be on the right or the left?]) |
324 | (item [how many glue dots should be on the breadboard?]))) |
3c0c7ca4 |
325 | (section |
390d8f01 |
326 | :title [battery packs] |
327 | (subsection |
2a5771b0 |
328 | :title [leads] |
0315bca5 |
329 | (subsubsection |
330 | :title [strip] |
331 | (p ["leads" are the wires coming out of the battery pack. |
332 | prepare the leads of the batteries by stripping them and |
333 | placing heat shrink on them. |
334 | your battery packs are not attached to your deck yet, |
335 | but that will be the next step.]) |
336 | (figure :legend "batteries / prepare leads / stripping" |
337 | (video |
338 | :file "2-batteries/0-prepare-leads/0-strip.ogv")) |
339 | (enumerate |
340 | (item (bold [do not pick up batteries by their leads!])) |
341 | (item [strip the leads a tiny bit at a time. |
342 | keep stripping until a total of an inch is stripped. |
343 | the leads are made of tons of tiny wires that will |
344 | tear apart if too much insulation is stripped at |
345 | once. |
346 | wire made of a bunch of tiny wires |
347 | is "stranded wire".]) |
348 | (item [strip both leads of both batteries.]) |
349 | (item [then place heat shrink on every lead. |
350 | make sure the heat shrink is either clear or matches |
351 | the color of the lead.])) |
352 | (p [check]) |
2acfcb3e |
353 | (enumerate |
0315bca5 |
354 | (item [should you pick up a battery by its leads?]) |
355 | (item [should you strip the leads a large amount at a time?]) |
356 | (item [what's the name of wires made of a bunch of tiny |
357 | wires?]))) |
358 | (subsubsection |
359 | :title [wrap] |
360 | (p [do the next 2 sections with just one lead at a time. |
361 | wrap, then solder one battery lead before moving on to the |
362 | next. |
363 | wrap the stranded wire around a solid core wire, as shown |
364 | in this video.]) |
365 | (figure :legend "batteries / prepare leads / wrap" |
366 | (video |
367 | :file "2-batteries/0-prepare-leads/1-wrap.ogv")) |
368 | (p [the solid core wire is the stiff short wire. |
369 | it is much easier to poke into the breadboard.]) |
370 | (p [check]) |
2acfcb3e |
371 | (enumerate |
6a014bd1 |
372 | (item [why are we using a solid core wire?]))) |
373 | (subsubsection |
374 | :title [solder] |
375 | (p [do this next section and the previous with just one lead at a |
376 | time. |
377 | solder the stranded wire and solid core wire, as shown |
378 | in this video.]) |
379 | (figure :legend "batteries / prepare leads / solder" |
380 | (video |
381 | :file "2-batteries/0-prepare-leads/2-solder.ogv")) |
382 | (p [soldering is the process of joining 2 metal things with |
383 | solder.]) |
384 | (enumerate |
385 | (item [use the helping hands to grab the wires and hold them in |
386 | place.]) |
387 | (item [clean off the tip of the soldering iron if it has been |
388 | sitting still for a while. |
389 | this cleans off corroded metal.]) |
390 | (item [apply some solder directly to the tip of the soldering |
391 | iron. |
392 | this creates a pool of solder on the tip. |
393 | we will use this to transfer heat to the wires.]) |
394 | (item [put the soldering iron up to the wires. |
395 | we want the wires to be hot enough to melt the |
396 | solder. |
397 | at the same time, poke the solder into the wire. |
398 | the solder will start melting and quickly spread to |
399 | hot parts of the wire. |
400 | there will be smoke.]) |
401 | (item [move the solder away, then move the iron away.])) |
402 | (p [check]) |
2acfcb3e |
403 | (enumerate |
6a014bd1 |
404 | (item [should the wires melt the solder?]) |
405 | (item [why should we clean off the tip of the soldering iron?]) |
406 | (item [why do we put more solder back on the tip of the iron?])))) |
390d8f01 |
407 | (subsection |
7b690119 |
408 | :title [deck attachment] |
409 | (subsubsection |
410 | :title [motor battery pack attachment] |
411 | (p [attach the motor battery pack to the robot deck.]) |
412 | (figure |
413 | :legend "batteries / placement / motor pack" |
414 | (video |
415 | :file "2-batteries/1-placement/0-motor-battery-pack.ogv")) |
416 | (p [we will use glue dots to attach the motor battery pack to the |
417 | deck. |
418 | the pack could be placed anywhere, but we will place it |
419 | in the lower left side of the robot. |
420 | this battery pack has 4 AA batteries in it. |
421 | each battery has 1.5 volts difference between the positive |
422 | and negative side. |
423 | the batteries are connected in series. |
424 | the total voltage difference for the whole battery pack is |
425 | the sum of the individual voltages, which is 6 volts.]) |
426 | (enumerate |
427 | (item [make sure you are placing dots on the side of the battery |
428 | pack without the on/off switch.]) |
429 | (item [peel off a glue dot for each of the corners of the |
430 | battery pack.]) |
431 | (item [when placing the battery pack, make sure the screw hole |
432 | aligns with a hole on the deck.])) |
433 | (p [check]) |
434 | (enumerate |
435 | (item [why place the glue dots on the side of the battery pack |
15ba87a4 |
436 | without the on/off switch?]))) |
437 | (subsubsection |
438 | :title [arduino battery pack attachment] |
439 | (p [attach the arduino battery pack to the robot deck.]) |
440 | (figure |
441 | :legend "batteries / placement / arduino pack" |
442 | (video |
443 | :file "2-batteries/1-placement/1-arduino-battery-pack.ogv")) |
444 | (p [next, we will attach the arduino battery pack to the deck. |
445 | again, the pack could be placed anywhere, but we will |
446 | place it in the lower right side of the robot.]) |
447 | (enumerate |
448 | (item [make sure you are placing dots on the side of the battery |
449 | pack without the on/off switch, just as before.]) |
450 | (item [peel off a glue dot for each end of the pack.]) |
451 | (item [when placing the battery pack, make sure the screw hole |
452 | aligns with a hole on the deck.])) |
453 | (p [check]) |
454 | (enumerate |
455 | (item [why align the screw with a hole on the deck?]))))) |
3c0c7ca4 |
456 | (section |
5aa69c47 |
457 | :title [motors] |
458 | (subsection |
6205157f |
459 | :title [leads] |
460 | (p [attach leads to the motors to supply the motor with power.]) |
461 | (figure |
462 | :legend "motors / leads" |
463 | (video |
464 | :file "3-motor-assemblies/0-leads.ogv")) |
465 | (enumerate |
466 | (item [strip both the green and yellow wire on both ends. |
467 | strip one side only 1/8 inch. |
468 | strip the other side about 1/4 inch.]) |
469 | (item [use the end of the wire stripper to bend a hook in the wire. |
470 | make this hook on the side of the wire with a smaller |
471 | exposed section.]) |
472 | (item [do not bend the wire so that the exposed wire runs alongside |
473 | the sheath.]) |
474 | (item [put the hooks through the tabs on the motor. |
475 | make sure to place the green and yellow wire on the |
476 | correct side of the motor. |
477 | match the side of the motor that already has wires |
478 | attached. |
479 | wrap the rest of the wire around the motor in order to |
480 | keep the wire from falling off.]) |
481 | (item [once the wire is in place, wrap solder around the motor tab |
482 | and wire. |
483 | heat up the solder, motor tab and wire with the |
484 | soldering iron.]) |
485 | (item [test the solder joint with the 9v battery. |
486 | touch the battery leads to the motor leads. |
487 | make sure the 9v battery is on. |
488 | if the motor moves, the solder joint is good!]) |
489 | (item [get section of electrical tape, roughly 100mm |
490 | (about 4 inches). |
491 | slide the middle of the tape under the wires. |
492 | this tape will keep the solder joints away from the |
493 | metal band around the motor.]) |
494 | (item [the zip tie will hold the wires to the motor. |
495 | wrap the zip tie on the round part of the motor where |
496 | it meets the square portion of the motor. |
497 | this will provide mechanical support for the solder |
498 | joints. |
499 | once the zip tie is wrapped, use wire strippers to cut |
500 | off the excess zip tie.]) |
501 | (item [cover the solder joint with hot glue. |
502 | this will further keep the solder joints from corroding |
503 | in the air's moisture. |
504 | it will also keep the joint safe from anything poking |
505 | in.])) |
506 | (p [check]) |
507 | (enumerate |
508 | (item [should the electrical tape go between the wires and the |
509 | metal band?]) |
510 | (item [are the motor tabs strong?]) |
511 | (item [what are we doing to reinforce the motor tabs mechanically?]) |
512 | (item [does hot glue make an electrical connection?]))) |
50a2c61c |
513 | (subsection |
514 | :title [motor mount] |
515 | (p [now let's attach the motor mount to the motor.]) |
516 | (subsubsection |
517 | :title [angle bracket to motor mount] |
518 | (p [first, attach the angle brackets to the motor mounts with |
519 | #6-32x3/8 inch screws.]) |
520 | (figure |
521 | :legend "motors / mount / angle bracket" |
522 | (video |
523 | :file "3-motor-assemblies/1-motor-mount/0-angle-brackets.ogv")) |
524 | (p [if you cover up 2 of the holes on the motor mount, the |
525 | remaining holes look like a surprised face. |
526 | these are the holes to attach the angle brackets. |
527 | make sure the angle brackets on one motor mount are attached |
528 | in a mirror image to the other.]) |
529 | (p [check]) |
530 | (enumerate |
531 | (item [should the motor mounts have angle brackets attached in |
532 | a mirror image fashion?]) |
533 | (item [why should the motor mounts have angle brackets attached in |
534 | a mirror image fashion?]))) |
535 | (subsubsection |
42d5aff2 |
536 | :title [motor mount to motor] |
537 | (p [now attach the motor mount with angle brackets to the motor.]) |
538 | (figure |
539 | :legend "motor / mount / mount to motor" |
540 | (video |
541 | :file |
542 | "3-motor-assemblies/1-motor-mount/1-motor-mount-to-motor.ogv")) |
543 | (p [we will attach the motor mount to the motor using #4 bolts. |
544 | these screws are thinner than the #6 bolts we have used. |
545 | to clamp down on the motor, we will use a #4 nut. |
546 | the white side of the nut should face outward. |
547 | this section of the nut will keep the nut from jiggling |
548 | loose off the bolt during normal operation. |
549 | the head of the #4 bolt is a philips head, so we will |
550 | use a philips head driver for it.]) |
551 | (p [check]) |
552 | (enumerate |
553 | (item [is the #4 bolt thicker or thinner than the #6?]) |
554 | (item [do you have a ratcheting socket wrench, or not?])))) |
5aa69c47 |
555 | (subsection |
32d7d032 |
556 | :title [deck attachment] |
557 | (p [now that the motor assemblies are together, we will attach them |
558 | to the deck.]) |
559 | (figure |
560 | :legend "motor / motor assembly to deck" |
561 | (video |
562 | :file "3-motor-assemblies/2-motor-assembly-to-deck.ogv")) |
563 | (p [when attaching the motor assembly to the deck, be sure to push |
564 | the assembly as far outward from the center of the robot |
565 | as you can while tightening it down. |
566 | this will give more clearance to the wheels of the robot |
567 | so they do not rub the deck.]))) |
3c0c7ca4 |
568 | (section |
1b593ec7 |
569 | :title [wheels] |
570 | (subsection |
571 | :title [tread]) |
572 | (subsection |
573 | :title [motor])) |
3c0c7ca4 |
574 | (section |
2ccf4ca9 |
575 | :title [caster] |
576 | (subsection |
577 | :title [deck placement])) |
3c0c7ca4 |
578 | (section |
6550a556 |
579 | :title [sonars] |
580 | (subsection |
581 | :title [deck placement]))) |
3c0c7ca4 |
582 | (chapter |
9fb37473 |
583 | :title [wiring and software] |
584 | (section |
f0876d62 |
585 | :title [serial] |
586 | (subsection |
1be43d04 |
587 | :title [software on computer] |
c3e8314c |
588 | (subsubsection |
1be43d04 |
589 | :title [arduino]) |
c3e8314c |
590 | (subsubsection |
1be43d04 |
591 | :title [fritzing])) |
f0876d62 |
592 | (subsection |
593 | :title [attach arduino and computer via cable]) |
594 | (subsection |
595 | :title [debugging common connection problems]) |
596 | (subsection |
597 | :title [arduino reset button])) |
9fb37473 |
598 | (section |
bb801164 |
599 | :title [left sonar] |
600 | (subsection |
601 | :title [breadboard connectivity]) |
602 | (subsection |
603 | :title [cable]) |
604 | (subsection |
cb7d1c68 |
605 | :title [arduino headers]) |
606 | (subsection |
607 | :title [sound cm per microsecond at sea level])) |
9fb37473 |
608 | (section |
9183d52b |
609 | :title [both sonars] |
610 | (subsection |
611 | :title [breadboard power rail] |
612 | (p [power rail can provide power to more than one device.]))) |
9fb37473 |
613 | (section |
805d6362 |
614 | :title [left motor] |
615 | (subsection |
616 | :title [arduino digital output]) |
617 | (subsection |
618 | :title [quad half h bridge, aka motor controller]) |
619 | (subsection |
620 | :title [motor battery])) |
9fb37473 |
621 | (section |
79d761bc |
622 | :title [both motors] |
623 | (subsection |
624 | :title [analogWrite])) |
9fb37473 |
625 | (section |
aedd9003 |
626 | :title [untethered] |
627 | (subsection |
628 | :title [arduino battery]) |
629 | (subsection |
630 | :title [off and on functions])) |
9fb37473 |
631 | (section |
28a2365e |
632 | :title [follow] |
633 | (subsection |
634 | :title [same wiring as untethered]) |
635 | (subsection |
636 | :title [set motor]) |
637 | (subsection |
638 | :title [go]) |
639 | (subsection |
640 | :title [determining speed])) |
9fb37473 |
641 | (section |
d460f45c |
642 | :title [stay on table] |
643 | (subsection |
644 | :title [stop]) |
645 | (subsection |
646 | :title [backup]) |
647 | (subsection |
648 | :title [turn around])))) |
37d286e7 |
649 | |
650 | ;; Copyright 2016 daniel watson |
651 | |
652 | ;; This file is part of challenge-bot. |
653 | |
654 | ;; challenge-bot is free software: you can redistribute it and/or modify |
655 | ;; it under the terms of the GNU Affero General Public License as |
656 | ;; published by the Free Software Foundation, either version 3 of the |
657 | ;; License, or (at your option) any later version. |
658 | |
659 | ;; challenge-bot is distributed in the hope that it will be useful, |
660 | ;; but WITHOUT ANY WARRANTY; without even the implied warranty of |
661 | ;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
662 | ;; GNU Affero General Public License for more details. |
663 | |
664 | ;; You should have received a copy of the GNU Affero General Public |
665 | ;; License along with challenge-bot. If not, see |
666 | ;; <http://www.gnu.org/licenses/>. |