curriculum -> guide, prepend 0- to arduino-to-deck

[challenge-bot] / guide / 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
                     "0-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
                       "0-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 "0-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 "0-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 "0-arduino-to-deck/3-place-arduino.png")))
     (p [here's a closeup]
        (figure :legend "arduino to deck / place arduino closeup"
                (image :file
                       "0-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
                       "0-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 of "#6-32x3/8\"" 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?])
           (item [where can a tool exert turning force on
                        the screw?]))]))
    (subsubsection
     :title [fasten the arduino board to the deck]
     (p [first we'll put the screw into the deck just enough so the deck
               holds it in place.
               then we will hold the arduino up to the screw and finish
               tightening the screw down.
               with the screw partially in, we do not have hold it as
               rigidly while we are also holding the arduino and
               the deck.])
     (p [push the #6-32 screw into the deck from the underside.
              the underside is the brown side.
              at the same time, spin the 6-32 screw so it rotates
              clockwise while looking down on its head.
              twist until the tip 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.])
     (p [check
         ,(itemize
           (item [why do we insert the first screw partially before
                      holding up the arduino?])
           (item [which side of the deck is the top side?]))]))
    (subsubsection
     :title [assessment of the first screw]
     (itemize
      (item [,(bold [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.])
      (item [does the arduino stay with the deck when the deck moves?])
      (item [can the arduino board still rotate a few degrees?]))))
   (subsection
    :title [second hole and screw]
    (subsubsection
     :title [arduino board move relative to deck]
     (p [without any screws, the arduino board can move independently of
                 the deck.
                 it can translate and rotate freely.
                 with the first screw, the arduino can rotate around one
                 point on the deck and can no longer translate much.])
     (p [the second screw limits rotation a lot.
             it also makes translation even more difficult.
             it might even be too small to be detectable by directly
             looking at it.])
     (p [to choose where the second hole and screw should go, we should
            keep in mind that the goal is to attach the deck to the
            arduino.
            this means minimizing rotation and translation.
            the picture below shows that the second hole should be as
            far as possible from the first hole, since that minimizes
            rotation.]
        (figure
         :legend "arduino to deck / keep holes far apart"
                (image
                 :file "0-arduino-to-deck/keep-holes-far-apart.png"))))
    (subsubsection
     :title [drilling and attaching second screw]
     (p [to drill the second hole, follow the same steps as drilling the
            first hole.
            hold the arduino down as before, and drill through the hole
            furthest away from the first hole.
            then insert and tighten the screw as before.])))
   (subsection
    :title [third and fourth hole and screw]
    (p [even though the arduino is pretty well attached with just 2
             screws, we will add a third and fourth.
             this gives practice drilling and tightening screws.
             it also keeps the arduino fixed even more rigidly.]))
   (subsection
    :title [assessment of arduino deck attachment]
    (itemize
     (item [you should now be able to grab the deck and shake it.
                the arduino should stay firmly in place while you do.])
     (item [the arduino should be close to but not touching an edge.])
     (item [there should be no warping on the arduino.
                  this could happen if the screws are too tight.]))))
  (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/>.