| 1 | ;; tldr; AGPLv3+ |
| 2 | ;; copyright info at bottom |
| 3 | |
| 4 | (document |
| 5 | :title [challenge-bot] |
| 6 | (chapter |
| 7 | :title [mechanical] |
| 8 | (p [let's build your robot!]) |
| 9 | (section |
| 10 | :title [arduino to deck] |
| 11 | (p [let's attach the arduino to the deck.]) |
| 12 | (subsection |
| 13 | :title [required materials] |
| 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 |
| 29 | holes1]))])) |
| 30 | (subsection |
| 31 | :title [first hole] |
| 32 | (subsubsection |
| 33 | :title [choosing drill bit] |
| 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.]) |
| 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 |
| 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?]))])) |
| 63 | (subsubsection |
| 64 | :title [inserting drill bit] |
| 65 | (p (figure :legend "arduino to deck / insert bit" |
| 66 | (image :file "0-arduino-to-deck/1-insert-bit.png")) |
| 67 | [insert the drill bit into the teeth of the drill. |
| 68 | insert it far enough that the teeth will clamp on the |
| 69 | smooth part of the bit when they are tightened.]) |
| 70 | (p (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 | [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 |
| 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?]))])) |
| 85 | (subsubsection |
| 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.])) |
| 90 | (subsubsection |
| 91 | :title [arduino placement] |
| 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 | [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 |
| 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?]))])) |
| 117 | (subsubsection |
| 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 |
| 155 | :title [drilling the first screw hole] |
| 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])) |
| 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?]))]))) |
| 178 | (subsection |
| 179 | :title [first screw] |
| 180 | (subsubsection |
| 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. |
| 184 | bigger numbers mean larger screws. |
| 185 | smaller numbers means smaller screws.] |
| 186 | (figure :legend "arduino to deck / #6-32 screw" |
| 187 | (image :file |
| 188 | "0-arduino-to-deck/6-32-screw.png"))) |
| 189 | (p [check |
| 190 | ,(itemize |
| 191 | (item |
| 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?]))]) |
| 195 | (p [the "32" part of "#6-32x3/8\"" is a measurement of how close |
| 196 | the threads are to each other. |
| 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 |
| 204 | ,(itemize |
| 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 |
| 209 | inches of the screw body?]) |
| 210 | (item [where can a tool exert turning force on |
| 211 | the screw?]))])) |
| 212 | (subsubsection |
| 213 | :title [fasten the arduino board to the deck] |
| 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.]) |
| 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.]) |
| 227 | (p [hold the arduino board flat to the deck and line up the arduino |
| 228 | hole so the screw can come up through it. |
| 229 | continue tightening the screw into the deck, spinning the |
| 230 | same direction as before. |
| 231 | tighten until the screw head touches the deck. |
| 232 | do not continue tightening after that.]) |
| 233 | (p [the arduino should still be flat against the deck still, just |
| 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?]))])) |
| 240 | (subsubsection |
| 241 | :title [assessment of the first screw] |
| 242 | (itemize |
| 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.]) |
| 247 | (item [does the arduino stay with the deck when the deck moves?]) |
| 248 | (item [can the arduino board still rotate a few degrees?])))) |
| 249 | (subsection |
| 250 | :title [second hole and screw] |
| 251 | (subsubsection |
| 252 | :title [arduino board move relative to deck] |
| 253 | (p [without any screws, the arduino board can move independently of |
| 254 | the deck. |
| 255 | it can translate and rotate freely. |
| 256 | with the first screw, the arduino can rotate around one |
| 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.] |
| 269 | (figure |
| 270 | :legend "arduino to deck / keep holes far apart" |
| 271 | (image |
| 272 | :file "0-arduino-to-deck/keep-holes-far-apart.png")))) |
| 273 | (subsubsection |
| 274 | :title [drilling and attaching second screw] |
| 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 |
| 278 | furthest away from the first hole. |
| 279 | then insert and tighten the screw as before.]))) |
| 280 | (subsection |
| 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. |
| 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.])))) |
| 294 | (section |
| 295 | :title [breadboard] |
| 296 | (p [next, let's attach other parts to the deck. |
| 297 | we'll start with the breadboard. |
| 298 | there are many ways to do this, but one handy approach is |
| 299 | glue dots. |
| 300 | glue dots can be placed easily, are good at attaching flat |
| 301 | surfaces that directly touch and do not get much stress.]) |
| 302 | (p (figure |
| 303 | :legend "breadboard to deck / required materials" |
| 304 | (image |
| 305 | :file "1-breadboard-to-deck/0-required-materials.png")) |
| 306 | [for this section, we will need the deck with arduino attached, |
| 307 | breadboard, and glue dots.])) |
| 308 | (section |
| 309 | :title [battery packs] |
| 310 | (subsection |
| 311 | :title [leads]) |
| 312 | (subsection |
| 313 | :title [deck attachment])) |
| 314 | (section |
| 315 | :title [motors] |
| 316 | (subsection |
| 317 | :title [leads]) |
| 318 | (subsection |
| 319 | :title [mount]) |
| 320 | (subsection |
| 321 | :title [deck attachment])) |
| 322 | (section |
| 323 | :title [wheels] |
| 324 | (subsection |
| 325 | :title [tread]) |
| 326 | (subsection |
| 327 | :title [motor])) |
| 328 | (section |
| 329 | :title [caster] |
| 330 | (subsection |
| 331 | :title [deck placement])) |
| 332 | (section |
| 333 | :title [sonars] |
| 334 | (subsection |
| 335 | :title [deck placement]))) |
| 336 | (chapter |
| 337 | :title [wiring and software] |
| 338 | (section |
| 339 | :title [serial] |
| 340 | (subsection |
| 341 | :title [software on computer] |
| 342 | (subsubsection |
| 343 | :title [arduino]) |
| 344 | (subsubsection |
| 345 | :title [fritzing])) |
| 346 | (subsection |
| 347 | :title [attach arduino and computer via cable]) |
| 348 | (subsection |
| 349 | :title [debugging common connection problems]) |
| 350 | (subsection |
| 351 | :title [arduino reset button])) |
| 352 | (section |
| 353 | :title [left sonar] |
| 354 | (subsection |
| 355 | :title [breadboard connectivity]) |
| 356 | (subsection |
| 357 | :title [cable]) |
| 358 | (subsection |
| 359 | :title [arduino headers]) |
| 360 | (subsection |
| 361 | :title [sound cm per microsecond at sea level])) |
| 362 | (section |
| 363 | :title [both sonars] |
| 364 | (subsection |
| 365 | :title [breadboard power rail] |
| 366 | (p [power rail can provide power to more than one device.]))) |
| 367 | (section |
| 368 | :title [left motor] |
| 369 | (subsection |
| 370 | :title [arduino digital output]) |
| 371 | (subsection |
| 372 | :title [quad half h bridge, aka motor controller]) |
| 373 | (subsection |
| 374 | :title [motor battery])) |
| 375 | (section |
| 376 | :title [both motors] |
| 377 | (subsection |
| 378 | :title [analogWrite])) |
| 379 | (section |
| 380 | :title [untethered] |
| 381 | (subsection |
| 382 | :title [arduino battery]) |
| 383 | (subsection |
| 384 | :title [off and on functions])) |
| 385 | (section |
| 386 | :title [follow] |
| 387 | (subsection |
| 388 | :title [same wiring as untethered]) |
| 389 | (subsection |
| 390 | :title [set motor]) |
| 391 | (subsection |
| 392 | :title [go]) |
| 393 | (subsection |
| 394 | :title [determining speed])) |
| 395 | (section |
| 396 | :title [stay on table] |
| 397 | (subsection |
| 398 | :title [stop]) |
| 399 | (subsection |
| 400 | :title [backup]) |
| 401 | (subsection |
| 402 | :title [turn around])))) |
| 403 | |
| 404 | ;; Copyright 2016 daniel watson |
| 405 | |
| 406 | ;; This file is part of challenge-bot. |
| 407 | |
| 408 | ;; challenge-bot is free software: you can redistribute it and/or modify |
| 409 | ;; it under the terms of the GNU Affero General Public License as |
| 410 | ;; published by the Free Software Foundation, either version 3 of the |
| 411 | ;; License, or (at your option) any later version. |
| 412 | |
| 413 | ;; challenge-bot is distributed in the hope that it will be useful, |
| 414 | ;; but WITHOUT ANY WARRANTY; without even the implied warranty of |
| 415 | ;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 416 | ;; GNU Affero General Public License for more details. |
| 417 | |
| 418 | ;; You should have received a copy of the GNU Affero General Public |
| 419 | ;; License along with challenge-bot. If not, see |
| 420 | ;; <http://www.gnu.org/licenses/>. |