37d286e7 |
1 | ;; tldr; AGPLv3+ |
2 | ;; copyright info at bottom |
3 | |
4 | (document |
5 | :title [challenge-bot] |
6 | (chapter |
3c0c7ca4 |
7 | :title [mechanical] |
1625f486 |
8 | (p [let's build your robot!]) |
3c0c7ca4 |
9 | (section |
58c778a1 |
10 | :title [arduino to deck] |
4a423b08 |
11 | (p [let's attach the arduino to the deck.]) |
cf59d996 |
12 | (subsection |
13 | :title [required materials] |
14 | (p [you will need the things in this picture. |
eef3ff81 |
15 | ,(figure |
16 | :legend "arduino to deck / required materials" |
17 | (image :file |
18 | "0-arduino-to-deck/0-required-materials.png")) |
cf59d996 |
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]) |
d0873756 |
27 | (item [#6-32x3/8\", four of them]) |
fdf53d2d |
28 | (item [robot deck, the white thing with a grid of |
29 | holes1]))])) |
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.]) |
85fae63f |
51 | (p [here's a cross section of a screw in the deck] |
52 | (figure :legend "screw cross section" |
53 | (image :file |
eef3ff81 |
54 | "0-arduino-to-deck/screw-cross-section.png"))) |
27547a79 |
55 | (p [check |
56 | ,(itemize |
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] |
65 | (p (figure :legend "arduino to deck / insert bit" |
eef3ff81 |
66 | (image :file "0-arduino-to-deck/1-insert-bit.png")) |
ca8e4428 |
67 | [insert the drill bit into the teeth of the drill. |
68 | insert it far enough that the teeth will clamp on the |
3875c1ef |
69 | smooth part of the bit when they are tightened.]) |
70 | (p (figure |
71 | :legend "arduino to deck / twist tighten drill teeth" |
fdf53d2d |
72 | (image |
73 | :file "0-arduino-to-deck/2-twist-tighten-drill-teeth.png")) |
3875c1ef |
74 | [while holding the drill bit, twist end of the drill to tighten |
75 | the teeth. |
76 | make sure that the teeth end up gripping the flat part of |
1887fb16 |
77 | the drill bit.]) |
78 | (p [check |
79 | ,(itemize |
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] |
92 | (p [the arduino should be placed as shown in this picture.] |
cf59d996 |
93 | (figure :legend "arduino to deck / place arduino" |
eef3ff81 |
94 | (image :file "0-arduino-to-deck/3-place-arduino.png"))) |
6fc3d47b |
95 | (p [here's a closeup] |
c1732375 |
96 | (figure :legend "arduino to deck / place arduino closeup" |
0b5cd84e |
97 | (image :file |
eef3ff81 |
98 | "0-arduino-to-deck/4-place-arduino-closeup.png")) |
0b5cd84e |
99 | [the picture above shows where to place the arduino on the deck. |
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.]) |
108 | (p [check |
109 | ,(itemize |
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] |
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 |
142 | ,(itemize |
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?]))])) |
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])) |
8fe23b94 |
168 | (p [check |
169 | ,(itemize |
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 |
175 | speed?]) |
176 | (item |
177 | [how do you keep the drill at full speed?]))]))) |
59fef212 |
178 | (subsection |
179 | :title [first screw] |
ff0f6a78 |
180 | (subsubsection |
9f651996 |
181 | :title [fastening arduino to deck using #6-32x3/8\" screw] |
182 | (p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is. |
183 | it is related to wire gauge. |
4e2c2b29 |
184 | bigger numbers mean larger screws. |
6e7c78dd |
185 | smaller numbers means smaller screws.] |
186 | (figure :legend "arduino to deck / #6-32 screw" |
187 | (image :file |
eef3ff81 |
188 | "0-arduino-to-deck/6-32-screw.png"))) |
9f651996 |
189 | (p [check |
59fef212 |
190 | ,(itemize |
191 | (item |
9f651996 |
192 | [in the motor assembly, there are #4-40x1.25\" screws. |
193 | are those fatter, thinner, or the same thickness as the |
194 | #6-32x3/8\" screws?]))]) |
5747a610 |
195 | (p [the "32" part of "#6-32x3/8\"" is a measurement of how close |
196 | the threads are to each other. |
9f651996 |
197 | this is related to the angle of the thread, which is also |
198 | called pitch. |
199 | it is a count of how many times the thread wraps around one |
200 | inch of the screw body.]) |
201 | (p [the head is the flat part where some tool, like the alan |
202 | wrench, can exert force to spin the screw.]) |
203 | (p [check |
59fef212 |
204 | ,(itemize |
9f651996 |
205 | (item [how many times will the thread wrap around one inch of |
206 | the screw body?]) |
207 | (item [what about 2 inches? |
208 | how many times will the thread wrap around two |
7a2e6436 |
209 | inches of the screw body?]) |
210 | (item [where can a tool exert turning force on |
211 | the screw?]))])) |
ff0f6a78 |
212 | (subsubsection |
213 | :title [fasten the arduino board to the deck] |
8eba0b8b |
214 | (p [first we'll put the screw into the deck just enough so the deck |
215 | holds it in place. |
216 | then we will hold the arduino up to the screw and finish |
217 | tightening the screw down. |
218 | with the screw partially in, we do not have hold it as |
219 | rigidly while we are also holding the arduino and |
220 | the deck.]) |
c4ea89ee |
221 | (p [push the #6-32 screw into the deck from the underside. |
222 | the underside is the brown side. |
223 | at the same time, spin the 6-32 screw so it rotates |
224 | clockwise while looking down on its head. |
225 | twist until the tip of the screw is about to stick out on |
226 | the top side of the deck.]) |
ff0f6a78 |
227 | (p [hold the arduino board flat to the deck and line up the arduino |
9f651996 |
228 | hole so the screw can come up through it. |
fdf53d2d |
229 | continue tightening the screw into the deck, spinning the |
230 | same direction as before. |
9f651996 |
231 | tighten until the screw head touches the deck. |
232 | do not continue tightening after that.]) |
ff0f6a78 |
233 | (p [the arduino should still be flat against the deck still, just |
f9e58978 |
234 | as it was before tightening the screw.]) |
235 | (p [check |
236 | ,(itemize |
237 | (item [why do we insert the first screw partially before |
238 | holding up the arduino?]) |
239 | (item [which side of the deck is the top side?]))])) |
ff0f6a78 |
240 | (subsubsection |
f17976bf |
241 | :title [assessment of the first screw] |
242 | (itemize |
7bca727f |
243 | (item [,(bold [warning]), if you rotate the arduino board too |
244 | much,you will unscrew it from the deck and you'll have to |
245 | screw it back in. |
246 | rotating a few degrees should be ok.]) |
f17976bf |
247 | (item [does the arduino stay with the deck when the deck moves?]) |
7bca727f |
248 | (item [can the arduino board still rotate a few degrees?])))) |
f17976bf |
249 | (subsection |
250 | :title [second hole and screw] |
ff0f6a78 |
251 | (subsubsection |
252 | :title [arduino board move relative to deck] |
253 | (p [without any screws, the arduino board can move independently of |
f17976bf |
254 | the deck. |
c305da78 |
255 | it can translate and rotate freely. |
f17976bf |
256 | with the first screw, the arduino can rotate around one |
763861dd |
257 | point on the deck and can no longer translate much.]) |
258 | (p [the second screw limits rotation a lot. |
259 | it also makes translation even more difficult. |
260 | it might even be too small to be detectable by directly |
261 | looking at it.]) |
262 | (p [to choose where the second hole and screw should go, we should |
263 | keep in mind that the goal is to attach the deck to the |
264 | arduino. |
265 | this means minimizing rotation and translation. |
266 | the picture below shows that the second hole should be as |
267 | far as possible from the first hole, since that minimizes |
268 | rotation.] |
eef3ff81 |
269 | (figure |
270 | :legend "arduino to deck / keep holes far apart" |
271 | (image |
272 | :file "0-arduino-to-deck/keep-holes-far-apart.png")))) |
e3a31106 |
273 | (subsubsection |
96401b17 |
274 | :title [drilling and attaching second screw] |
e3a31106 |
275 | (p [to drill the second hole, follow the same steps as drilling the |
276 | first hole. |
277 | hold the arduino down as before, and drill through the hole |
6ef8240f |
278 | furthest away from the first hole. |
279 | then insert and tighten the screw as before.]))) |
24b6d750 |
280 | (subsection |
a5939c50 |
281 | :title [third and fourth hole and screw] |
282 | (p [even though the arduino is pretty well attached with just 2 |
283 | screws, we will add a third and fourth. |
284 | this gives practice drilling and tightening screws. |
aa71ea44 |
285 | it also keeps the arduino fixed even more rigidly.])) |
286 | (subsection |
287 | :title [assessment of arduino deck attachment] |
288 | (itemize |
289 | (item [you should now be able to grab the deck and shake it. |
290 | the arduino should stay firmly in place while you do.]) |
291 | (item [the arduino should be close to but not touching an edge.]) |
292 | (item [there should be no warping on the arduino. |
293 | this could happen if the screws are too tight.])))) |
57e11138 |
294 | (section |
295 | :title [breadboard]) |
3c0c7ca4 |
296 | (section |
390d8f01 |
297 | :title [battery packs] |
298 | (subsection |
299 | :title [leads]) |
300 | (subsection |
301 | :title [deck attachment])) |
3c0c7ca4 |
302 | (section |
5aa69c47 |
303 | :title [motors] |
304 | (subsection |
305 | :title [leads]) |
306 | (subsection |
307 | :title [mount]) |
308 | (subsection |
309 | :title [deck attachment])) |
3c0c7ca4 |
310 | (section |
1b593ec7 |
311 | :title [wheels] |
312 | (subsection |
313 | :title [tread]) |
314 | (subsection |
315 | :title [motor])) |
3c0c7ca4 |
316 | (section |
2ccf4ca9 |
317 | :title [caster] |
318 | (subsection |
319 | :title [deck placement])) |
3c0c7ca4 |
320 | (section |
6550a556 |
321 | :title [sonars] |
322 | (subsection |
323 | :title [deck placement]))) |
3c0c7ca4 |
324 | (chapter |
9fb37473 |
325 | :title [wiring and software] |
326 | (section |
f0876d62 |
327 | :title [serial] |
328 | (subsection |
1be43d04 |
329 | :title [software on computer] |
c3e8314c |
330 | (subsubsection |
1be43d04 |
331 | :title [arduino]) |
c3e8314c |
332 | (subsubsection |
1be43d04 |
333 | :title [fritzing])) |
f0876d62 |
334 | (subsection |
335 | :title [attach arduino and computer via cable]) |
336 | (subsection |
337 | :title [debugging common connection problems]) |
338 | (subsection |
339 | :title [arduino reset button])) |
9fb37473 |
340 | (section |
bb801164 |
341 | :title [left sonar] |
342 | (subsection |
343 | :title [breadboard connectivity]) |
344 | (subsection |
345 | :title [cable]) |
346 | (subsection |
cb7d1c68 |
347 | :title [arduino headers]) |
348 | (subsection |
349 | :title [sound cm per microsecond at sea level])) |
9fb37473 |
350 | (section |
9183d52b |
351 | :title [both sonars] |
352 | (subsection |
353 | :title [breadboard power rail] |
354 | (p [power rail can provide power to more than one device.]))) |
9fb37473 |
355 | (section |
805d6362 |
356 | :title [left motor] |
357 | (subsection |
358 | :title [arduino digital output]) |
359 | (subsection |
360 | :title [quad half h bridge, aka motor controller]) |
361 | (subsection |
362 | :title [motor battery])) |
9fb37473 |
363 | (section |
79d761bc |
364 | :title [both motors] |
365 | (subsection |
366 | :title [analogWrite])) |
9fb37473 |
367 | (section |
aedd9003 |
368 | :title [untethered] |
369 | (subsection |
370 | :title [arduino battery]) |
371 | (subsection |
372 | :title [off and on functions])) |
9fb37473 |
373 | (section |
28a2365e |
374 | :title [follow] |
375 | (subsection |
376 | :title [same wiring as untethered]) |
377 | (subsection |
378 | :title [set motor]) |
379 | (subsection |
380 | :title [go]) |
381 | (subsection |
382 | :title [determining speed])) |
9fb37473 |
383 | (section |
d460f45c |
384 | :title [stay on table] |
385 | (subsection |
386 | :title [stop]) |
387 | (subsection |
388 | :title [backup]) |
389 | (subsection |
390 | :title [turn around])))) |
37d286e7 |
391 | |
392 | ;; Copyright 2016 daniel watson |
393 | |
394 | ;; This file is part of challenge-bot. |
395 | |
396 | ;; challenge-bot is free software: you can redistribute it and/or modify |
397 | ;; it under the terms of the GNU Affero General Public License as |
398 | ;; published by the Free Software Foundation, either version 3 of the |
399 | ;; License, or (at your option) any later version. |
400 | |
401 | ;; challenge-bot is distributed in the hope that it will be useful, |
402 | ;; but WITHOUT ANY WARRANTY; without even the implied warranty of |
403 | ;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
404 | ;; GNU Affero General Public License for more details. |
405 | |
406 | ;; You should have received a copy of the GNU Affero General Public |
407 | ;; License along with challenge-bot. If not, see |
408 | ;; <http://www.gnu.org/licenses/>. |