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   1 # HBRC 2013 Challenge Robot
   2
   3 ## Introduction
   4
   5 For 2013, it is proposed that there be a "club bot".
   6 The goal is to learn from the 2011 "club bot" and
   7 improve upon it.
   8
   9 Most introductory robots are "dead-end" robots that
  10 tend to strand people after they have the first
  11 few robot behaviors are implemented -- obstacle avoid,
  12 wall follow, line follow, don't fall off table, etc.
  13
  14 One of the primary goals of the 2013 robot is to try
  15 to make it expandable from simple to more complex in
  16 reasonable incremental steps.
  17
  18 The base is organized around 1in x 1in grid peg-board
  19 which is readily available from locations link Home
  20 Depot, Lowes, and lumber stores.
  21
  22 There would be a variety of independent upgrades
  23 that could be done in whatever order the user
  24 feels inclined to use:
  25
  26 ## Basic Platform:
  27
  28 The basic robot would be built in three phases:
  29
  30 ### Phase 1: Arduino + Blinky LED's:
  31
  32 Goals:
  33
  34 * Cut peg board to size using hack saw
  35 * Get Arduino IDE installed on laptop.
  36 * Drill Arduino mounting holes in peg board
  37 * Mount Arduino to peg board using screws
  38 * Mount Mini Breadboard to peg board
  39 * Install LED + resistor on breadboard
  40 * Hook up LED to Arduino
  41 * Download Blinky LED program
  42
  43 Bill of Materials:
  44
  45 * 1  Arduino(tm) board + USB Cable (SainSmart: 20-011-110: ~$14/10)
  46 * 1  Mini BreadBoard (Ebay: ~$3/10)
  47 * 1  Breadboard cables (Ebay: ~$4/10)
  48 * 1  4in x 5in peg board to mount arduino + miniboard
  49 * 4  small squares of double sided tape
  50 * 3  #4-40 Phillips 1/2" flat-head screws
  51 * 6  #4-40 hex nuts
  52 * 3  #4 lock washers
  53 * 2  Red LED's
  54 * 2  Yellow LED's
  55 * 2  Green LED's
  56 * 6  330 Ohm Resistors
  57
  58 Required Tools:
  59
  60 * 1  Safety glasses!!!
  61 * 1  Laptop Windows or MacOS or Linux
  62 * 1  Hack saw (to cut peg board)
  63 * 1  Phillips screw driver
  64 * 1  Drill + Drill Bits
  65 * 1  Pliers
  66
  67 ### Phase 2: Build Robot Platform
  68
  69 Goals:
  70
  71 * Solder 2 motor wires to each motor
  72 * Mount Motors to brackets
  73 * Mount brackets to base
  74 * Attach to caster to base
  75 * Attach Arduino+Breadboard to peg board base with screws
  76 * Install SN754410NE on breadboard
  77 * Connect motors to breadboard
  78 * Connect Arduino to breadboard
  79 * Download a program to make the base move forward and backward
  80
  81 Bill of Materials:
  82
  83 * 1  8in x 8in peg board for robot base
  84 * 2  GM3 gear motors (Solarbotics: $11.50/2)
  85 * 2  GMPW Wheels (Solarbotics: $6.50/2)
  86 * 2  Wheel brackets (custom: ~$3/2)
  87 * 1  4AA Battery Holder w/cover&switch (Jameco: 216187: ~$1.05)
  88 * 1  9V Battery Holder w/cover&switch (Jameco: 2128067: ~$1.40)
  89 * 4  AA Batteries (Brooklyn Batteries)
  90 * 1  9V Battery (Brooklyn Batteries)
  91 * 1  Ball Castor (Walgreens: Roll-on Deoderant: ~$3)
  92 * 1  SN754410NE Dual H-Bridge (Future: ~$1)
  93 * 14 #6-32 3/4in Phillips Pan-Head screws (Olander)
  94 * 21 #6 Washers (Olander)
  95 * 28 #6-32 Hex Nuts (Olander)
  96 * 14 #6 internal tooth lock washers (Olander)
  97 * 4  #4-40 1in Phillips Flat-Head screws (Olander)
  98 * 4  #4-40 Regular Pattern Hex Nut (Olander)
  99 * 2  #4-40 3/4in Phillips Flat-Head screws (Olander)
 100 * 2  #4-40 Small Pattern Hex Nut (Olander)
 101 * 2  Nylon ties (Frys)
 102 * 5  Rubber bands (Office Depot)
 103
 104 Additional Required Tools:
 105
 106 * 1  Soldering iron
 107 * 1  Roll of solder
 108 * 1  Solder tip cleaner
 109 * 1  Diagonal cutter
 110 * 1  Wire Stripper
 111
 112 ### Phase 3: Build TableTop Challenge Phase 1
 113
 114 Goals:
 115
 116 * Cut out two pieces of Peg Board
 117 * Drill mounting holes for sonar module
 118 * Crimp connectors to cable
 119 * Mount Sonar modules to Robot base
 120 * Plug Sonar modules into breadboard + Arduino
 121 * Develop table top challenge code
 122
 123 Bill of Materials:
 124
 125 * 1  ?in x ?in peg board sonar holders
 126 * 2  Sonar sensors (EBay: HC-SR04 ~$4/2)
 127 * 4  2x8 .1in Female IDC connectors
 128 * 2  12in 8 conductor ribbon cable
 129 * 2  1x4 .1in Male-to-Male Headers
 130 * 4  #4-40 Phillips Pan Head Screws
 131 * 8  #4-40 Hex nuts
 132 * 4  #4 Washers
 133 * 4  #4 internal tooth lock washers
 134 * 2  #6-32 Phillips Pan Head Screws
 135 * 2  #6-32 Hex Nuts
 136 * 4  #6 Washers
 137 * 2  #6 internal tool lock washers
 138 * 1  18" of twine (for a Wyland leash)
 139
 140 Additional Required Tools:
 141
 142 * 1  Benchtop vice
 143
 144 That provides the basic configuration.
 145
 146 ## Rechargable Battery Upgrade
 147
 148 This gets rid of the hassle of buying and throwing
 149 away AA batteries.
 150
 151 Bill of Materials:
 152
 153 * 2  7.2V 1300mAh LiPo Battery Packs (Trossen: BAT-7V1300M: $26/2)
 154 * 1  LiPo Battery Charger (Trossen: KIT-CHG-LIPO: ($16+$11)/1)
 155 * 2  Female Deans Connector (TBD)
 156 * 1  DPDT Power Switch (TBD)
 157
 158 ## Raspberry Pi Upgrade
 159
 160 The DC-DC convert is rated for 1.5A and can be
 161 plugged into the breadboard.  The ribbon cable
 162 can be assembled with just a vise.  The RasPi
 163 allows 5V to be injected over the cable.  Obviously
 164 the RasPi allows people to start trying out ROS.
 165
 166 Bill of Materials:
 167
 168 * 1 Raspberry Pi Model B 512MB (Newark: $35)
 169 * 1 OKI-78SR-5/1.5-W36: 5V@1.5A DC/DC Switcher (Digikey: $4.30)
 170 * 1 2x13 Female Ribbon Cable Header
 171 * 1 16-conductor chunk of ribbon cable
 172 * 1 2x8 Female Ribbon Cable Header
 173 * 1 1x8 Male to Male pins header pins
 174
 175 ## Odometry Upgrade
 176
 177 This upgrade requires some work.
 178
 179 Bill of Materials:
 180
 181 * 2  AS5055 ($10/2)
 182 * 2  AS5055 PCB's
 183 * 2  Appropriate magnet ($2/2)
 184 * 2  GM3 to magnet shaft adaptor
 185
 186 An adaptor from the GM3 to Magnet is needed;
 187 this would be custom made out of some plastic.
 188 In addition a custom PCB is needed to hold
 189 the AS5055 which is a surface mount chip.
 190
 191 ## WiFi Upgrade
 192
 193 Something like the GMYLE using the RTL8191SU should
 194 do the trick.  With this it is possible to network
 195 into your robot.  There it may be necessary to have
 196 separate power injection for the Wi-Fi.
 197
 198 Bill of Materials:
 199
 200 *  1 USB WiFi Dongle with decent antenna (Amazon: ~9)
 201
 202 ## Camera Upgrade
 203
 204 This RasPi camera has not shipped yet, but it seems
 205 to be nearing the end of prototyping.  A USB camera
 206 is another alternative.
 207
 208 Bill of Materials:
 209
 210 * 1 RasPi Camera (~$25)
 211
 212 ## Cheap Arm Upgrade
 213
 214 Bill of Materials:
 215 * 4 Hobby servos (base twist, shoulder, elbow, gripper)
 216 * 1 Gripper (Jameco 358811: $20)
 217 *   Appropriate struts
 218
 219 This is a low payload arm that can lift 10-20 oz max.
 220