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
115 (p [place the drill bit in position.
116 brint the drill up to full speed, and keep it full speed.
117 push down until the drill bit has passed through the
119 keep the drill at full speed.
120 stop before the drill smashes into the arduino.
121 keep the drill at full speed by holding the trigger.
122 bring the drill straight back up.
123 hold the trigger down to keep the drill at full speed.
124 once the drill is back out of the hole, let go of the
129 [should the drill be at full speed while the drill bit is
130 going down into the wood and coming back up?])
132 [what would happen if the drill bit were not at full
135 [how do you keep the drill at full speed?]))])))
139 :title [fastening arduino to deck using #6-32x3/8\" screw]
140 (p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is.
141 it is related to wire gauge.
142 bigger numbers mean larger screw.
143 smaller numbers means smaller screws.]
144 (figure :legend "arduino to deck / #6-32 screw"
146 "arduino-to-deck/6-32-screw.png")))
150 [in the motor assembly, there are #4-40x1.25\" screws.
151 are those fatter, thinner, or the same thickness as the
152 #6-32x3/8\" screws?]))])
153 (p [the "32" part is a measurement of how close the threads are to
155 this is related to the angle of the thread, which is also
157 it is a count of how many times the thread wraps around one
158 inch of the screw body.])
159 (p [the head is the flat part where some tool, like the alan
160 wrench, can exert force to spin the screw.])
163 (item [how many times will the thread wrap around one inch of
165 (item [what about 2 inches?
166 how many times will the thread wrap around two
167 inches of the screw body?]))]))
169 :title [fasten the arduino board to the deck]
170 (p [push the 6-32 screw into the deck from the underside and at the
171 same time, spin the 6-32 screw clockwise while looking
173 twist until the bottom of the screw is
174 about to stick out on the top side of the deck.])
175 (p [hold the arduino board flat to the deck and line up the arduino
176 hole so the screw can come up through it.
177 continue tightening the screw into the deck, spinning the same
179 tighten until the screw head touches the deck.
180 do not continue tightening after that.])
181 (p [the arduino should still be flat against the deck still, just
182 as it was before tightening the screw.]))
185 (p [does the arduino stay with the deck when the deck moves?
186 can the arduino board still rotate a few degrees?
187 warning, if you rotate the arduino board too much, you
188 will unscrew it from the deck and you'll have to screw it
190 rotating a few degrees should be ok.]))
192 :title [arduino board move relative to deck]
193 (p [without any screws, the arduino board can move independently of
195 (p [with the first screw, the arduino can rotate around one point
198 :title [second hole and screw])
200 :title [third and fourth hole and screw]))
204 :title [battery packs]
208 :title [deck attachment]))
216 :title [deck attachment]))
226 :title [deck placement]))
230 :title [deck placement])))
232 :title [wiring and software]
236 :title [software on computer]
242 :title [attach arduino and computer via cable])
244 :title [debugging common connection problems])
246 :title [arduino reset button]))
250 :title [breadboard connectivity])
254 :title [arduino headers])
256 :title [sound cm per microsecond at sea level]))
260 :title [breadboard power rail]
261 (p [power rail can provide power to more than one device.])))
265 :title [arduino digital output])
267 :title [quad half h bridge, aka motor controller])
269 :title [motor battery]))
273 :title [analogWrite]))
277 :title [arduino battery])
279 :title [off and on functions]))
283 :title [same wiring as untethered])
289 :title [determining speed]))
291 :title [stay on table]
297 :title [turn around]))))
299 ;; Copyright 2016 daniel watson
301 ;; This file is part of challenge-bot.
303 ;; challenge-bot is free software: you can redistribute it and/or modify
304 ;; it under the terms of the GNU Affero General Public License as
305 ;; published by the Free Software Foundation, either version 3 of the
306 ;; License, or (at your option) any later version.
308 ;; challenge-bot is distributed in the hope that it will be useful,
309 ;; but WITHOUT ANY WARRANTY; without even the implied warranty of
310 ;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
311 ;; GNU Affero General Public License for more details.
313 ;; You should have received a copy of the GNU Affero General Public
314 ;; License along with challenge-bot. If not, see
315 ;; <http://www.gnu.org/licenses/>.
projects / challenge-bot / blob