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
114 :title [drilling practice]
117 (item [put on safety goggles])
118 (item [unplug drill])
119 (item [hold drill in one hand])
120 (item [point drill at the ground])
121 (item [point drill at the wall])))
122 (p [steps for drilling into wood block]
124 (item [plug in the drill])
125 (item [place the drill bit in position])
126 (item [bring the drill up to full speed, and keep it at full
127 speed while lowering and raising the drill])
128 (item [push down until the drill bit has passed through an inch
130 (item [keep the drill at full speed])
131 (item [stop before the drill smashes into the wood block])
132 (item [keep the drill at full speed by holding the trigger])
133 (item [bring the drill straight back up])
134 (item [hold the trigger down to keep the drill at full speed])
135 (item [once the drill is back out of the hole, let go of the
140 [should the drill be at full speed while the drill bit is
141 going down into the wood and coming back up?])
143 [how do you keep the drill at full speed?])
145 [what would happen if the drill bit were not at full
148 [what would happen if the drill were twisted sideways while
149 the drill bit were in the wood?]))]))
151 :title [drilling the first screw hole]
153 (item [place the drill bit in position])
154 (item [bring the drill up to full speed, and keep it full speed])
155 (item [push down until the drill bit has passed through the
157 (item [keep the drill at full speed])
158 (item [stop before the drill smashes into the arduino])
159 (item [keep the drill at full speed by holding the trigger])
160 (item [bring the drill straight back up])
161 (item [hold the trigger down to keep the drill at full speed])
162 (item [once the drill is back out of the hole, let go of the
167 [should the drill be at full speed while the drill bit is
168 going down into the wood and coming back up?])
170 [what would happen if the drill bit were not at full
173 [how do you keep the drill at full speed?]))])))
177 :title [fastening arduino to deck using #6-32x3/8\" screw]
178 (p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is.
179 it is related to wire gauge.
180 bigger numbers mean larger screws.
181 smaller numbers means smaller screws.]
182 (figure :legend "arduino to deck / #6-32 screw"
184 "arduino-to-deck/6-32-screw.png")))
188 [in the motor assembly, there are #4-40x1.25\" screws.
189 are those fatter, thinner, or the same thickness as the
190 #6-32x3/8\" screws?]))])
191 (p [the "32" part of "#6-32x3/8\"" is a measurement of how close
192 the threads are to each other.
193 this is related to the angle of the thread, which is also
195 it is a count of how many times the thread wraps around one
196 inch of the screw body.])
197 (p [the head is the flat part where some tool, like the alan
198 wrench, can exert force to spin the screw.])
201 (item [how many times will the thread wrap around one inch of
203 (item [what about 2 inches?
204 how many times will the thread wrap around two
205 inches of the screw body?])
206 (item [where can a tool exert turning force on
209 :title [fasten the arduino board to the deck]
210 (p [first we'll put the screw into the deck just enough so the deck
212 then we will hold the arduino up to the screw and finish
213 tightening the screw down.
214 with the screw partially in, we do not have hold it as
215 rigidly while we are also holding the arduino and
217 (p [push the #6-32 screw into the deck from the underside.
218 the underside is the brown side.
219 at the same time, spin the 6-32 screw so it rotates
220 clockwise while looking down on its head.
221 twist until the tip of the screw is about to stick out on
222 the top side of the deck.])
223 (p [hold the arduino board flat to the deck and line up the arduino
224 hole so the screw can come up through it.
225 continue tightening the screw into the deck, spinning the same
227 tighten until the screw head touches the deck.
228 do not continue tightening after that.])
229 (p [the arduino should still be flat against the deck still, just
230 as it was before tightening the screw.])
233 (item [why do we insert the first screw partially before
234 holding up the arduino?])
235 (item [which side of the deck is the top side?]))]))
237 :title [assessment of the first screw]
239 (item [,(bold [warning]), if you rotate the arduino board too
240 much,you will unscrew it from the deck and you'll have to
242 rotating a few degrees should be ok.])
243 (item [does the arduino stay with the deck when the deck moves?])
244 (item [can the arduino board still rotate a few degrees?]))))
246 :title [second hole and screw]
248 :title [arduino board move relative to deck]
249 (p [without any screws, the arduino board can move independently of
251 it can translate and rotate freely.
252 with the first screw, the arduino can rotate around one
253 point on the deck and can no longer translate much.])
254 (p [the second screw limits rotation a lot.
255 it also makes translation even more difficult.
256 it might even be too small to be detectable by directly
258 (p [to choose where the second hole and screw should go, we should
259 keep in mind that the goal is to attach the deck to the
261 this means minimizing rotation and translation.
262 the picture below shows that the second hole should be as
263 far as possible from the first hole, since that minimizes
265 (figure :legend "arduino to deck / keep holes far apart"
266 (image :file "arduino-to-deck/keep-holes-far-apart.png"))))
268 :title [drilling and attaching second screw]
269 (p [to drill the second hole, follow the same steps as drilling the
271 hold the arduino down as before, and drill through the hole
272 furthest away from the first hole.
273 then insert and tighten the screw as before.])))
275 :title [third and fourth hole and screw]))
279 :title [battery packs]
283 :title [deck attachment]))
291 :title [deck attachment]))
301 :title [deck placement]))
305 :title [deck placement])))
307 :title [wiring and software]
311 :title [software on computer]
317 :title [attach arduino and computer via cable])
319 :title [debugging common connection problems])
321 :title [arduino reset button]))
325 :title [breadboard connectivity])
329 :title [arduino headers])
331 :title [sound cm per microsecond at sea level]))
335 :title [breadboard power rail]
336 (p [power rail can provide power to more than one device.])))
340 :title [arduino digital output])
342 :title [quad half h bridge, aka motor controller])
344 :title [motor battery]))
348 :title [analogWrite]))
352 :title [arduino battery])
354 :title [off and on functions]))
358 :title [same wiring as untethered])
364 :title [determining speed]))
366 :title [stay on table]
372 :title [turn around]))))
374 ;; Copyright 2016 daniel watson
376 ;; This file is part of challenge-bot.
378 ;; challenge-bot is free software: you can redistribute it and/or modify
379 ;; it under the terms of the GNU Affero General Public License as
380 ;; published by the Free Software Foundation, either version 3 of the
381 ;; License, or (at your option) any later version.
383 ;; challenge-bot is distributed in the hope that it will be useful,
384 ;; but WITHOUT ANY WARRANTY; without even the implied warranty of
385 ;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
386 ;; GNU Affero General Public License for more details.
388 ;; You should have received a copy of the GNU Affero General Public
389 ;; License along with challenge-bot. If not, see
390 ;; <http://www.gnu.org/licenses/>.
projects / challenge-bot / blob