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.
16 :legend "arduino to deck / required materials"
18 "0-arduino-to-deck/0-required-materials.png"))
20 (item [medical kit with bandages])
21 (item [safety goggles])
22 (item [drill bit \(we will determine size in a moment\)])
27 (item [#6-32x3/8\", four of them])
28 (item [robot deck, the white thing with a grid of holes1]))]))
32 :title [choosing drill bit]
33 (p [the arduino comes with holes in it already, so we will make
34 some choices around those holes.
35 choosing the right drill bit depends on what job you are
37 right now, we are making holes for screws to hold the
39 there are two constraints between the hole and screw.
40 each hole needs to be big enough for the screw body to fit
42 the holes also need to be smaller than the screw's thread.
43 since there are holes on the arduino already, the screw was
45 the screw was chosen so that the hole on the arduino was
46 bigger than the screw body and smaller than its thread.
47 we will choose the biggest drill bit that fits through the
48 hole on the arduino, then use that to drill holes in the
50 (p [here's a cross section of a screw in the deck]
51 (figure :legend "screw cross section"
53 "0-arduino-to-deck/screw-cross-section.png")))
57 [what would happen if the drill bit were larger than the
60 [what would happen if the drill bit were smaller than the
63 :title [inserting drill bit]
64 (p (figure :legend "arduino to deck / insert bit"
65 (image :file "0-arduino-to-deck/1-insert-bit.png"))
66 [insert the drill bit into the teeth of the drill.
67 insert it far enough that the teeth will clamp on the
68 smooth part of the bit when they are tightened.])
70 :legend "arduino to deck / twist tighten drill teeth"
71 (image :file "0-arduino-to-deck/2-twist-tighten-drill-teeth.png"))
72 [while holding the drill bit, twist end of the drill to tighten
74 make sure that the teeth end up gripping the flat part of
79 [where should the teeth clamp down on the drill bit?])
81 [what would happen if the teeth tightened on the recessed
82 part of the drill bit?]))]))
84 :title [holding drill]
85 (p [hold the drill with one hand on the handle and trigger.
86 put the other hand on the orange nozzle, before the
87 black spinning part.]))
89 :title [arduino placement]
90 (p [the arduino should be placed as shown in this picture.]
91 (figure :legend "arduino to deck / place arduino"
92 (image :file "0-arduino-to-deck/3-place-arduino.png")))
94 (figure :legend "arduino to deck / place arduino closeup"
96 "0-arduino-to-deck/4-place-arduino-closeup.png"))
97 [the picture above shows where to place the arduino on the deck.
98 the arduino should line up with the holes on the deck.
99 this alignment line is highlighted in pink.
100 on the arduino, there's a hole on the top left, between the
101 orange reset button and black headers.
102 the green circle shows where the hole is.
103 the blue box encloses the arduino hole and two deck holes.
104 place the arduino hole mid-way between the two
109 [should the arduino be upside-down?])
111 [what should the upper side of the arduino align with?])
113 [why not place the arduino up along the left side of the
116 :title [drilling practice]
119 (item [put on safety goggles])
120 (item [unplug drill])
121 (item [hold drill in one hand])
122 (item [point drill at the ground])
123 (item [point drill at the wall])))
124 (p [steps for drilling into wood block]
126 (item [plug in the drill])
127 (item [place the drill bit in position])
128 (item [bring the drill up to full speed, and keep it at full
129 speed while lowering and raising the drill])
130 (item [push down until the drill bit has passed through an inch
132 (item [keep the drill at full speed])
133 (item [stop before the drill smashes into the wood block])
134 (item [keep the drill at full speed by holding the trigger])
135 (item [bring the drill straight back up])
136 (item [hold the trigger down to keep the drill at full speed])
137 (item [once the drill is back out of the hole, let go of the
142 [should the drill be at full speed while the drill bit is
143 going down into the wood and coming back up?])
145 [how do you keep the drill at full speed?])
147 [what would happen if the drill bit were not at full
150 [what would happen if the drill were twisted sideways while
151 the drill bit were in the wood?]))]))
153 :title [drilling the first screw hole]
155 (item [place the drill bit in position])
156 (item [bring the drill up to full speed, and keep it full speed])
157 (item [push down until the drill bit has passed through the
159 (item [keep the drill at full speed])
160 (item [stop before the drill smashes into the arduino])
161 (item [keep the drill at full speed by holding the trigger])
162 (item [bring the drill straight back up])
163 (item [hold the trigger down to keep the drill at full speed])
164 (item [once the drill is back out of the hole, let go of the
169 [should the drill be at full speed while the drill bit is
170 going down into the wood and coming back up?])
172 [what would happen if the drill bit were not at full
175 [how do you keep the drill at full speed?]))])))
179 :title [fastening arduino to deck using #6-32x3/8\" screw]
180 (p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is.
181 it is related to wire gauge.
182 bigger numbers mean larger screws.
183 smaller numbers means smaller screws.]
184 (figure :legend "arduino to deck / #6-32 screw"
186 "0-arduino-to-deck/6-32-screw.png")))
190 [in the motor assembly, there are #4-40x1.25\" screws.
191 are those fatter, thinner, or the same thickness as the
192 #6-32x3/8\" screws?]))])
193 (p [the "32" part of "#6-32x3/8\"" is a measurement of how close
194 the threads are to each other.
195 this is related to the angle of the thread, which is also
197 it is a count of how many times the thread wraps around one
198 inch of the screw body.])
199 (p [the head is the flat part where some tool, like the alan
200 wrench, can exert force to spin the screw.])
203 (item [how many times will the thread wrap around one inch of
205 (item [what about 2 inches?
206 how many times will the thread wrap around two
207 inches of the screw body?])
208 (item [where can a tool exert turning force on
211 :title [fasten the arduino board to the deck]
212 (p [first we'll put the screw into the deck just enough so the deck
214 then we will hold the arduino up to the screw and finish
215 tightening the screw down.
216 with the screw partially in, we do not have hold it as
217 rigidly while we are also holding the arduino and
219 (p [push the #6-32 screw into the deck from the underside.
220 the underside is the brown side.
221 at the same time, spin the 6-32 screw so it rotates
222 clockwise while looking down on its head.
223 twist until the tip of the screw is about to stick out on
224 the top side of the deck.])
225 (p [hold the arduino board flat to the deck and line up the arduino
226 hole so the screw can come up through it.
227 continue tightening the screw into the deck, spinning the same
229 tighten until the screw head touches the deck.
230 do not continue tightening after that.])
231 (p [the arduino should still be flat against the deck still, just
232 as it was before tightening the screw.])
235 (item [why do we insert the first screw partially before
236 holding up the arduino?])
237 (item [which side of the deck is the top side?]))]))
239 :title [assessment of the first screw]
241 (item [,(bold [warning]), if you rotate the arduino board too
242 much,you will unscrew it from the deck and you'll have to
244 rotating a few degrees should be ok.])
245 (item [does the arduino stay with the deck when the deck moves?])
246 (item [can the arduino board still rotate a few degrees?]))))
248 :title [second hole and screw]
250 :title [arduino board move relative to deck]
251 (p [without any screws, the arduino board can move independently of
253 it can translate and rotate freely.
254 with the first screw, the arduino can rotate around one
255 point on the deck and can no longer translate much.])
256 (p [the second screw limits rotation a lot.
257 it also makes translation even more difficult.
258 it might even be too small to be detectable by directly
260 (p [to choose where the second hole and screw should go, we should
261 keep in mind that the goal is to attach the deck to the
263 this means minimizing rotation and translation.
264 the picture below shows that the second hole should be as
265 far as possible from the first hole, since that minimizes
268 :legend "arduino to deck / keep holes far apart"
270 :file "0-arduino-to-deck/keep-holes-far-apart.png"))))
272 :title [drilling and attaching second screw]
273 (p [to drill the second hole, follow the same steps as drilling the
275 hold the arduino down as before, and drill through the hole
276 furthest away from the first hole.
277 then insert and tighten the screw as before.])))
279 :title [third and fourth hole and screw]
280 (p [even though the arduino is pretty well attached with just 2
281 screws, we will add a third and fourth.
282 this gives practice drilling and tightening screws.
283 it also keeps the arduino fixed even more rigidly.]))
285 :title [assessment of arduino deck attachment]
287 (item [you should now be able to grab the deck and shake it.
288 the arduino should stay firmly in place while you do.])
289 (item [the arduino should be close to but not touching an edge.])
290 (item [there should be no warping on the arduino.
291 this could happen if the screws are too tight.]))))
295 :title [battery packs]
299 :title [deck attachment]))
307 :title [deck attachment]))
317 :title [deck placement]))
321 :title [deck placement])))
323 :title [wiring and software]
327 :title [software on computer]
333 :title [attach arduino and computer via cable])
335 :title [debugging common connection problems])
337 :title [arduino reset button]))
341 :title [breadboard connectivity])
345 :title [arduino headers])
347 :title [sound cm per microsecond at sea level]))
351 :title [breadboard power rail]
352 (p [power rail can provide power to more than one device.])))
356 :title [arduino digital output])
358 :title [quad half h bridge, aka motor controller])
360 :title [motor battery]))
364 :title [analogWrite]))
368 :title [arduino battery])
370 :title [off and on functions]))
374 :title [same wiring as untethered])
380 :title [determining speed]))
382 :title [stay on table]
388 :title [turn around]))))
390 ;; Copyright 2016 daniel watson
392 ;; This file is part of challenge-bot.
394 ;; challenge-bot is free software: you can redistribute it and/or modify
395 ;; it under the terms of the GNU Affero General Public License as
396 ;; published by the Free Software Foundation, either version 3 of the
397 ;; License, or (at your option) any later version.
399 ;; challenge-bot is distributed in the hope that it will be useful,
400 ;; but WITHOUT ANY WARRANTY; without even the implied warranty of
401 ;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
402 ;; GNU Affero General Public License for more details.
404 ;; You should have received a copy of the GNU Affero General Public
405 ;; License along with challenge-bot. If not, see
406 ;; <http://www.gnu.org/licenses/>.
projects / challenge-bot / blob