2 ;; copyright info at bottom
8 (p [let's build your robot!])
10 :title [arduino to deck]
11 (p [let's attach the arduino to the deck.])
13 :title [required materials]
14 (p [you will need the things in this picture.
15 ,(figure :legend "arduino to deck / required materials"
16 (image :file "arduino-to-deck/0-required-materials.png"))
18 (item [medical kit with bandages])
19 (item [safety goggles])
20 (item [drill bit \(we will determine size in a moment\)])
25 (item [#6-32x3/8\", four of them])
26 (item [robot deck, the white thing with a grid of holes1]))]))
30 :title [choosing drill bit]
31 (p [the arduino comes with holes in it already, so we will make
32 some choices around those holes.
33 choosing the right drill bit depends on what job you are
35 right now, we are making holes for screws to hold the
37 there are two constraints between the hole and screw.
38 each hole needs to be big enough for the screw body to fit
40 the holes also need to be smaller than the screw's thread.
41 since there are holes on the arduino already, the screw was
43 the screw was chosen so that the hole on the arduino was
44 bigger than the screw body and smaller than its thread.
45 we will choose the biggest drill bit that fits through the
46 hole on the arduino, then use that to drill holes in the
48 (p [here's a cross section of a screw in the deck]
49 (figure :legend "screw cross section"
51 "arduino-to-deck/screw-cross-section.png")))
55 [what would happen if the drill bit were larger than the
58 [what would happen if the drill bit were smaller than the
61 :title [inserting drill bit]
62 (p (figure :legend "arduino to deck / insert bit"
63 (image :file "arduino-to-deck/1-insert-bit.png"))
64 [insert the drill bit into the teeth of the drill.
65 insert it far enough that the teeth will clamp on the
66 smooth part of the bit when they are tightened.])
68 :legend "arduino to deck / twist tighten drill teeth"
69 (image :file "arduino-to-deck/2-twist-tighten-drill-teeth.png"))
70 [while holding the drill bit, twist end of the drill to tighten
72 make sure that the teeth end up gripping the flat part of
77 [where should the teeth clamp down on the drill bit?])
79 [what would happen if the teeth tightened on the recessed
80 part of the drill bit?]))]))
82 :title [holding drill]
83 (p [hold the drill with one hand on the handle and trigger.
84 put the other hand on the orange nozzle, before the
85 black spinning part.]))
87 :title [arduino placement]
88 (p [the arduino should be placed as shown in this picture.]
89 (figure :legend "arduino to deck / place arduino"
90 (image :file "arduino-to-deck/3-place-arduino.png")))
92 (figure :legend "arduino to deck / place arduino closeup"
94 "arduino-to-deck/4-place-arduino-closeup.png"))
95 [the picture above shows where to place the arduino on the deck.
96 the arduino should line up with the holes on the deck.
97 this alignment line is highlighted in pink.
98 on the arduino, there's a hole on the top left, between the
99 orange reset button and black headers.
100 the green circle shows where the hole is.
101 the blue box encloses the arduino hole and two deck holes.
102 place the arduino hole mid-way between the two
107 [should the arduino be upside-down?])
109 [what should the upper side of the arduino align with?])
111 [why not place the arduino up along the left side of the
118 :title [fastening arduino to deck using #6-32x3/8\" screw]
119 (p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is.
120 it is related to wire gauge.
121 bigger numbers mean larger screw.
122 smaller numbers means smaller screws.]
123 (figure :legend "arduino to deck / #6-32 screw"
125 "arduino-to-deck/6-32-screw.png")))
129 [in the motor assembly, there are #4-40x1.25\" screws.
130 are those fatter, thinner, or the same thickness as the
131 #6-32x3/8\" screws?]))])
132 (p [the "32" part is a measurement of how close the threads are to
134 this is related to the angle of the thread, which is also
136 it is a count of how many times the thread wraps around one
137 inch of the screw body.])
138 (p [the head is the flat part where some tool, like the alan
139 wrench, can exert force to spin the screw.])
142 (item [how many times will the thread wrap around one inch of
144 (item [what about 2 inches?
145 how many times will the thread wrap around two
146 inches of the screw body?]))]))
148 :title [fasten the arduino board to the deck]
149 (p [push the 6-32 screw into the deck from the underside and at the
150 same time, spin the 6-32 screw clockwise while looking
152 twist until the bottom of the screw is
153 about to stick out on the top side of the deck.])
154 (p [hold the arduino board flat to the deck and line up the arduino
155 hole so the screw can come up through it.
156 continue tightening the screw into the deck, spinning the same
158 tighten until the screw head touches the deck.
159 do not continue tightening after that.])
160 (p [the arduino should still be flat against the deck still, just
161 as it was before tightening the screw.]))
164 (p [does the arduino stay with the deck when the deck moves?
165 can the arduino board still rotate a few degrees?
166 warning, if you rotate the arduino board too much, you
167 will unscrew it from the deck and you'll have to screw it
169 rotating a few degrees should be ok.]))
171 :title [arduino board move relative to deck]
172 (p [without any screws, the arduino board can move independently of
174 (p [with the first screw, the arduino can rotate around one point
177 :title [second hole and screw])
179 :title [third and fourth hole and screw]))
183 :title [battery packs]
187 :title [deck attachment]))
195 :title [deck attachment]))
205 :title [deck placement]))
209 :title [deck placement])))
211 :title [wiring and software]
215 :title [software on computer]
221 :title [attach arduino and computer via cable])
223 :title [debugging common connection problems])
225 :title [arduino reset button]))
229 :title [breadboard connectivity])
233 :title [arduino headers])
235 :title [sound cm per microsecond at sea level]))
239 :title [breadboard power rail]
240 (p [power rail can provide power to more than one device.])))
244 :title [arduino digital output])
246 :title [quad half h bridge, aka motor controller])
248 :title [motor battery]))
252 :title [analogWrite]))
256 :title [arduino battery])
258 :title [off and on functions]))
262 :title [same wiring as untethered])
268 :title [determining speed]))
270 :title [stay on table]
276 :title [turn around]))))
278 ;; Copyright 2016 daniel watson
280 ;; This file is part of challenge-bot.
282 ;; challenge-bot is free software: you can redistribute it and/or modify
283 ;; it under the terms of the GNU Affero General Public License as
284 ;; published by the Free Software Foundation, either version 3 of the
285 ;; License, or (at your option) any later version.
287 ;; challenge-bot is distributed in the hope that it will be useful,
288 ;; but WITHOUT ANY WARRANTY; without even the implied warranty of
289 ;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
290 ;; GNU Affero General Public License for more details.
292 ;; You should have received a copy of the GNU Affero General Public
293 ;; License along with challenge-bot. If not, see
294 ;; <http://www.gnu.org/licenses/>.
projects / challenge-bot / blob