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   1 ### Phase 2: Build TableTop Challenge Phase 1
   2
   3 Goals:
   4
   5 * Cut out two pieces of Peg Board
   6 * Drill mounting holes for sonar module
   7 * Crimp connectors to cable
   8 * Mount Sonar modules to Robot base
   9 * Plug Sonar modules into breadboard + Arduino
  10 * Develop table top challenge code
  11
  12 Bill of Materials:
  13
  14 * 1  ?in x ?in peg board sonar holders
  15 * 2  Sonar sensors (EBay: HC-SR04 ~$4/2)
  16 * 4  2x8 .1in Female IDC connectors
  17 * 2  12in 8 conductor ribbon cable
  18 * 2  1x4 .1in Male-to-Male Headers
  19 * 4  #4-40 Phillips Pan Head Screws
  20 * 8  #4-40 Hex nuts
  21 * 4  #4 Washers
  22 * 4  #4 internal tooth lock washers
  23 * 2  #6-32 Phillips Pan Head Screws
  24 * 2  #6-32 Hex Nuts
  25 * 4  #6 Washers
  26 * 2  #6 internal tool lock washers
  27 * 1  18" of twine (for a Wyland leash)
  28
  29 Additional Required Tools:
  30
  31 * 1  Benchtop vice
  32
  33 That provides the basic configuration.
  34
  35 ## Rechargable Battery Upgrade
  36
  37 This gets rid of the hassle of buying and throwing
  38 away AA batteries.
  39
  40 Bill of Materials:
  41
  42 * 2  7.2V 1300mAh LiPo Battery Packs (Trossen: BAT-7V1300M: $26/2)
  43 * 1  LiPo Battery Charger (Trossen: KIT-CHG-LIPO: ($16+$11)/1)
  44 * 2  Female Deans Connector (TBD)
  45 * 1  DPDT Power Switch (TBD)
  46
  47 ## Raspberry Pi Upgrade
  48
  49 The DC-DC convert is rated for 1.5A and can be
  50 plugged into the breadboard.  The ribbon cable
  51 can be assembled with just a vise.  The RasPi
  52 allows 5V to be injected over the cable.  Obviously
  53 the RasPi allows people to start trying out ROS.
  54
  55 Bill of Materials:
  56
  57 * 1 Raspberry Pi Model B 512MB (Newark: $35)
  58 * 1 OKI-78SR-5/1.5-W36: 5V@1.5A DC/DC Switcher (Digikey: $4.30)
  59 * 1 2x13 Female Ribbon Cable Header
  60 * 1 16-conductor chunk of ribbon cable
  61 * 1 2x8 Female Ribbon Cable Header
  62 * 1 1x8 Male to Male pins header pins
  63
  64 ## Odometry Upgrade
  65
  66 This upgrade requires some work.
  67
  68 Bill of Materials:
  69
  70 * 2  AS5055 ($10/2)
  71 * 2  AS5055 PCB's
  72 * 2  Appropriate magnet ($2/2)
  73 * 2  GM3 to magnet shaft adaptor
  74
  75 An adaptor from the GM3 to Magnet is needed;
  76 this would be custom made out of some plastic.
  77 In addition a custom PCB is needed to hold
  78 the AS5055 which is a surface mount chip.
  79
  80 ## WiFi Upgrade
  81
  82 Something like the GMYLE using the RTL8191SU should
  83 do the trick.  With this it is possible to network
  84 into your robot.  There it may be necessary to have
  85 separate power injection for the Wi-Fi.
  86
  87 Bill of Materials:
  88
  89 *  1 USB WiFi Dongle with decent antenna (Amazon: ~9)
  90
  91 ## Camera Upgrade
  92
  93 This RasPi camera has not shipped yet, but it seems
  94 to be nearing the end of prototyping.  A USB camera
  95 is another alternative.
  96
  97 Bill of Materials:
  98
  99 * 1 RasPi Camera (~$25)
 100
 101 ## Cheap Arm Upgrade
 102
 103 Bill of Materials:
 104 * 4 Hobby servos (base twist, shoulder, elbow, gripper)
 105 * 1 Gripper (Jameco 358811: $20)
 106 *   Appropriate struts
 107
 108 This is a low payload arm that can lift 10-20 oz max.