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]) |
55 | (itemize |
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]) |
78 | (itemize |
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]) |
108 | (itemize |
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]) |
141 | (itemize |
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]) |
168 | (itemize |
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]) |
186 | (itemize |
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]) |
200 | (itemize |
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]) |
231 | (itemize |
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 |
304 | :file "1-breadboard-to-deck/0-breadboard-to-deck.ogv"))) |
3c0c7ca4 |
305 | (section |
390d8f01 |
306 | :title [battery packs] |
307 | (subsection |
308 | :title [leads]) |
309 | (subsection |
310 | :title [deck attachment])) |
3c0c7ca4 |
311 | (section |
5aa69c47 |
312 | :title [motors] |
313 | (subsection |
314 | :title [leads]) |
315 | (subsection |
316 | :title [mount]) |
317 | (subsection |
318 | :title [deck attachment])) |
3c0c7ca4 |
319 | (section |
1b593ec7 |
320 | :title [wheels] |
321 | (subsection |
322 | :title [tread]) |
323 | (subsection |
324 | :title [motor])) |
3c0c7ca4 |
325 | (section |
2ccf4ca9 |
326 | :title [caster] |
327 | (subsection |
328 | :title [deck placement])) |
3c0c7ca4 |
329 | (section |
6550a556 |
330 | :title [sonars] |
331 | (subsection |
332 | :title [deck placement]))) |
3c0c7ca4 |
333 | (chapter |
9fb37473 |
334 | :title [wiring and software] |
335 | (section |
f0876d62 |
336 | :title [serial] |
337 | (subsection |
1be43d04 |
338 | :title [software on computer] |
c3e8314c |
339 | (subsubsection |
1be43d04 |
340 | :title [arduino]) |
c3e8314c |
341 | (subsubsection |
1be43d04 |
342 | :title [fritzing])) |
f0876d62 |
343 | (subsection |
344 | :title [attach arduino and computer via cable]) |
345 | (subsection |
346 | :title [debugging common connection problems]) |
347 | (subsection |
348 | :title [arduino reset button])) |
9fb37473 |
349 | (section |
bb801164 |
350 | :title [left sonar] |
351 | (subsection |
352 | :title [breadboard connectivity]) |
353 | (subsection |
354 | :title [cable]) |
355 | (subsection |
cb7d1c68 |
356 | :title [arduino headers]) |
357 | (subsection |
358 | :title [sound cm per microsecond at sea level])) |
9fb37473 |
359 | (section |
9183d52b |
360 | :title [both sonars] |
361 | (subsection |
362 | :title [breadboard power rail] |
363 | (p [power rail can provide power to more than one device.]))) |
9fb37473 |
364 | (section |
805d6362 |
365 | :title [left motor] |
366 | (subsection |
367 | :title [arduino digital output]) |
368 | (subsection |
369 | :title [quad half h bridge, aka motor controller]) |
370 | (subsection |
371 | :title [motor battery])) |
9fb37473 |
372 | (section |
79d761bc |
373 | :title [both motors] |
374 | (subsection |
375 | :title [analogWrite])) |
9fb37473 |
376 | (section |
aedd9003 |
377 | :title [untethered] |
378 | (subsection |
379 | :title [arduino battery]) |
380 | (subsection |
381 | :title [off and on functions])) |
9fb37473 |
382 | (section |
28a2365e |
383 | :title [follow] |
384 | (subsection |
385 | :title [same wiring as untethered]) |
386 | (subsection |
387 | :title [set motor]) |
388 | (subsection |
389 | :title [go]) |
390 | (subsection |
391 | :title [determining speed])) |
9fb37473 |
392 | (section |
d460f45c |
393 | :title [stay on table] |
394 | (subsection |
395 | :title [stop]) |
396 | (subsection |
397 | :title [backup]) |
398 | (subsection |
399 | :title [turn around])))) |
37d286e7 |
400 | |
401 | ;; Copyright 2016 daniel watson |
402 | |
403 | ;; This file is part of challenge-bot. |
404 | |
405 | ;; challenge-bot is free software: you can redistribute it and/or modify |
406 | ;; it under the terms of the GNU Affero General Public License as |
407 | ;; published by the Free Software Foundation, either version 3 of the |
408 | ;; License, or (at your option) any later version. |
409 | |
410 | ;; challenge-bot is distributed in the hope that it will be useful, |
411 | ;; but WITHOUT ANY WARRANTY; without even the implied warranty of |
412 | ;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
413 | ;; GNU Affero General Public License for more details. |
414 | |
415 | ;; You should have received a copy of the GNU Affero General Public |
416 | ;; License along with challenge-bot. If not, see |
417 | ;; <http://www.gnu.org/licenses/>. |