(document
:title [challenge-bot]
+ (toc)
(chapter
:title [mechanical]
+ :number "0"
(p [let's build your robot!])
(section
:title [arduino to deck]
+ :number "0"
(p [let's attach the arduino to the deck.])
(subsection
:title [required materials]
- (p [you will need the things in this picture.
- ,(figure
- :legend "arduino to deck / required materials"
- (image :file
- "0-arduino-to-deck/0-required-materials.png"))
- ,(itemize
- (item [medical kit with bandages])
- (item [safety goggles])
- (item [drill bit \(we will determine size in a moment\)])
- (item [drill])
- (item [alan wrench])
- (item [wood block])
- (item [arduino])
- (item [#6-32x3/8\", four of them])
- (item [robot deck, the white thing with a grid of
- holes1]))]))
+ (p [you will need the things in this picture.])
+ (figure
+ :legend "arduino to deck / required materials"
+ (image :file
+ "0-arduino-to-deck/0-required-materials.png"))
+ (itemize
+ (item [medical kit with bandages])
+ (item [safety goggles])
+ (item [drill bit \(we will determine size in a moment\)])
+ (item [drill])
+ (item [alan wrench])
+ (item [wood block])
+ (item [arduino])
+ (item [#6-32x3/8\", four of them])
+ (item [robot deck, the white thing with a grid of holes])))
(subsection
:title [first hole]
(subsubsection
we will choose the biggest drill bit that fits through the
hole on the arduino, then use that to drill holes in the
deck.])
- (p [here's a cross section of a screw in the deck]
- (figure :legend "screw cross section"
- (image :file
- "0-arduino-to-deck/screw-cross-section.png")))
- (p [check
- ,(itemize
- (item
- [what would happen if the drill bit were larger than the
- screw thread?])
- (item
- [what would happen if the drill bit were smaller than the
- screw body?]))]))
+ (p [here's a cross section of a screw in the deck])
+ (figure :legend "screw cross section"
+ (image :file
+ "0-arduino-to-deck/screw-cross-section.png"))
+ (p [check])
+ (enumerate
+ (item
+ [what would happen if the drill bit were larger than the
+ screw thread?])
+ (item
+ [what would happen if the drill bit were smaller than the
+ screw body?])))
(subsubsection
:title [inserting drill bit]
- (p (figure :legend "arduino to deck / insert bit"
- (image :file "0-arduino-to-deck/1-insert-bit.png"))
- [insert the drill bit into the teeth of the drill.
+ (figure :legend "arduino to deck / insert bit"
+ (image :file "0-arduino-to-deck/1-insert-bit.png"))
+ (p [insert the drill bit into the teeth of the drill.
insert it far enough that the teeth will clamp on the
smooth part of the bit when they are tightened.])
- (p (figure
- :legend "arduino to deck / twist tighten drill teeth"
- (image
- :file "0-arduino-to-deck/2-twist-tighten-drill-teeth.png"))
- [while holding the drill bit, twist end of the drill to tighten
+ (figure
+ :legend "arduino to deck / twist tighten drill teeth"
+ (image
+ :file "0-arduino-to-deck/2-twist-tighten-drill-teeth.png"))
+ (p [while holding the drill bit, twist end of the drill to tighten
the teeth.
make sure that the teeth end up gripping the flat part of
the drill bit.])
- (p [check
- ,(itemize
- (item
- [where should the teeth clamp down on the drill bit?])
- (item
- [what would happen if the teeth tightened on the recessed
- part of the drill bit?]))]))
+ (p [check])
+ (enumerate
+ (item
+ [where should the teeth clamp down on the drill bit?])
+ (item
+ [what would happen if the teeth tightened on the recessed
+ part of the drill bit?])))
(subsubsection
:title [holding drill]
(p [hold the drill with one hand on the handle and trigger.
black spinning part.]))
(subsubsection
:title [arduino placement]
- (p [the arduino should be placed as shown in this picture.]
- (figure :legend "arduino to deck / place arduino"
- (image :file "0-arduino-to-deck/3-place-arduino.png")))
- (p [here's a closeup]
- (figure :legend "arduino to deck / place arduino closeup"
- (image :file
- "0-arduino-to-deck/4-place-arduino-closeup.png"))
- [the picture above shows where to place the arduino on the deck.
+ (p [the arduino should be placed as shown in this picture.])
+ (figure :legend "arduino to deck / place arduino"
+ (image :file "0-arduino-to-deck/3-place-arduino.png"))
+ (p [here's a closeup])
+ (figure :legend "arduino to deck / place arduino closeup"
+ (image :file
+ "0-arduino-to-deck/4-place-arduino-closeup.png"))
+ (p [the picture above shows where to place the arduino on the deck.
the arduino should line up with the holes on the deck.
this alignment line is highlighted in pink.
on the arduino, there's a hole on the top left, between the
the blue box encloses the arduino hole and two deck holes.
place the arduino hole mid-way between the two
deck holes.])
- (p [check
- ,(itemize
- (item
- [should the arduino be upside-down?])
- (item
- [what should the upper side of the arduino align with?])
- (item
- [why not place the arduino up along the left side of the
- robot?]))]))
+ (p [check])
+ (enumerate
+ (item
+ [should the arduino be upside-down?])
+ (item
+ [what should the upper side of the arduino align with?])
+ (item
+ [why not place the arduino up along the left side of the
+ robot?])))
(subsubsection
:title [drilling practice]
- (p [strength check]
- (itemize
- (item [put on safety goggles])
- (item [unplug drill])
- (item [hold drill in one hand])
- (item [point drill at the ground])
- (item [point drill at the wall])))
- (p [steps for drilling into wood block]
- (itemize
- (item [plug in the drill])
- (item [place the drill bit in position])
- (item [bring the drill up to full speed, and keep it at full
- speed while lowering and raising the drill])
- (item [push down until the drill bit has passed through an inch
- of the wood block])
- (item [keep the drill at full speed])
- (item [stop before the drill smashes into the wood block])
- (item [keep the drill at full speed by holding the trigger])
- (item [bring the drill straight back up])
- (item [hold the trigger down to keep the drill at full speed])
- (item [once the drill is back out of the hole, let go of the
- trigger])))
- (p [check
- ,(itemize
- (item
- [should the drill be at full speed while the drill bit is
- going down into the wood and coming back up?])
- (item
- [how do you keep the drill at full speed?])
- (item
- [what would happen if the drill bit were not at full
- speed?])
- (item
- [what would happen if the drill were twisted sideways while
- the drill bit were in the wood?]))]))
+ (p [strength check])
+ (itemize
+ (item [put on safety goggles])
+ (item [unplug drill])
+ (item [hold drill in one hand])
+ (item [point drill at the ground])
+ (item [point drill at the wall]))
+ (p [steps for drilling into wood block])
+ (itemize
+ (item [plug in the drill])
+ (item [place the drill bit in position])
+ (item [bring the drill up to full speed, and keep it at full
+ speed while lowering and raising the drill])
+ (item [push down until the drill bit has passed through an inch
+ of the wood block])
+ (item [keep the drill at full speed])
+ (item [stop before the drill smashes into the wood block])
+ (item [keep the drill at full speed by holding the trigger])
+ (item [bring the drill straight back up])
+ (item [hold the trigger down to keep the drill at full speed])
+ (item [once the drill is back out of the hole, let go of the
+ trigger]))
+ (p [check])
+ (enumerate
+ (item
+ [should the drill be at full speed while the drill bit is
+ going down into the wood and coming back up?])
+ (item
+ [how do you keep the drill at full speed?])
+ (item
+ [what would happen if the drill bit were not at full
+ speed?])
+ (item
+ [what would happen if the drill were twisted sideways while
+ the drill bit were in the wood?])))
(subsubsection
:title [drilling the first screw hole]
(itemize
(item [hold the trigger down to keep the drill at full speed])
(item [once the drill is back out of the hole, let go of the
trigger]))
- (p [check
- ,(itemize
- (item
- [should the drill be at full speed while the drill bit is
- going down into the wood and coming back up?])
- (item
- [what would happen if the drill bit were not at full
- speed?])
- (item
- [how do you keep the drill at full speed?]))])))
+ (p [check])
+ (enumerate
+ (item
+ [should the drill be at full speed while the drill bit is
+ going down into the wood and coming back up?])
+ (item
+ [what would happen if the drill bit were not at full speed?])
+ (item [how do you keep the drill at full speed?]))))
(subsection
:title [first screw]
(subsubsection
(p [the "#6" part of "#6-32x3/8\"" is how big around the bolt is.
it is related to wire gauge.
bigger numbers mean larger screws.
- smaller numbers means smaller screws.]
- (figure :legend "arduino to deck / #6-32 screw"
- (image :file
- "0-arduino-to-deck/6-32-screw.png")))
- (p [check
- ,(itemize
- (item
- [in the motor assembly, there are #4-40x1.25\" screws.
- are those fatter, thinner, or the same thickness as the
- #6-32x3/8\" screws?]))])
+ smaller numbers means smaller screws.])
+ (figure :legend "arduino to deck / #6-32 screw"
+ (image :file "0-arduino-to-deck/6-32-screw.png"))
+ (p [check])
+ (enumerate
+ (item
+ [in the motor assembly, there are #4-40x1.25\" screws.
+ are those fatter, thinner, or the same thickness as the
+ #6-32x3/8\" screws?]))
(p [the "32" part of "#6-32x3/8\"" is a measurement of how close
the threads are to each other.
this is related to the angle of the thread, which is also
inch of the screw body.])
(p [the head is the flat part where some tool, like the alan
wrench, can exert force to spin the screw.])
- (p [check
- ,(itemize
- (item [how many times will the thread wrap around one inch of
- the screw body?])
- (item [what about 2 inches?
- how many times will the thread wrap around two
- inches of the screw body?])
- (item [where can a tool exert turning force on
- the screw?]))]))
+ (p [check])
+ (enumerate
+ (item [how many times will the thread wrap around one inch of
+ the screw body?])
+ (item [what about 2 inches?
+ how many times will the thread wrap around two
+ inches of the screw body?])
+ (item [where can a tool exert turning force on the screw?])))
(subsubsection
:title [fasten the arduino board to the deck]
(p [first we'll put the screw into the deck just enough so the deck
do not continue tightening after that.])
(p [the arduino should still be flat against the deck still, just
as it was before tightening the screw.])
- (p [check
- ,(itemize
- (item [why do we insert the first screw partially before
- holding up the arduino?])
- (item [which side of the deck is the top side?]))]))
+ (p [check])
+ (enumerate
+ (item [why do we insert the first screw partially before
+ holding up the arduino?])
+ (item [which side of the deck is the top side?])))
(subsubsection
:title [assessment of the first screw]
(itemize
this means minimizing rotation and translation.
the picture below shows that the second hole should be as
far as possible from the first hole, since that minimizes
- rotation.]
- (figure
- :legend "arduino to deck / keep holes far apart"
- (image
- :file "0-arduino-to-deck/keep-holes-far-apart.png"))))
+ rotation.])
+ (figure
+ :legend "arduino to deck / keep holes far apart"
+ (image
+ :file "0-arduino-to-deck/keep-holes-far-apart.png")))
(subsubsection
:title [drilling and attaching second screw]
(p [to drill the second hole, follow the same steps as drilling the
(item [the arduino should be close to but not touching an edge.])
(item [there should be no warping on the arduino.
this could happen if the screws are too tight.]))))
+ (section
+ :title [battery wiring]
+ (subsection
+ :title [leads]
+ (subsubsection
+ :title [strip]
+ (p ["leads" are the wires coming out of the battery pack.
+ prepare the leads of the batteries by stripping them and
+ placing heat shrink on them.
+ your battery packs are not attached to your deck yet,
+ but that will be the next step.])
+ (figure :legend "batteries / prepare leads / stripping"
+ (video
+ :file "2-batteries/0-prepare-leads/0-strip.ogv"))
+ (enumerate
+ (item (bold [do not pick up batteries by their leads!]))
+ (item [strip the leads a tiny bit at a time.
+ keep stripping until a total of an inch is stripped.
+ the leads are made of tons of tiny wires that will
+ tear apart if too much insulation is stripped at
+ once.
+ wire made of a bunch of tiny wires
+ is "stranded wire".])
+ (item [strip both leads of both batteries.])
+ (item [then place heat shrink on every lead.
+ make sure the heat shrink is either clear or matches
+ the color of the lead.]))
+ (p [check])
+ (enumerate
+ (item [should you pick up a battery by its leads?])
+ (item [should you strip the leads a large amount at a time?])
+ (item [what's the name of wires made of a bunch of tiny
+ wires?])))
+ (subsubsection
+ :title [wrap]
+ (p [do the next 2 sections with just one lead at a time.
+ wrap, then solder one battery lead before moving on to the
+ next.
+ wrap the stranded wire around a solid core wire, as shown
+ in this video.])
+ (figure :legend "batteries / prepare leads / wrap"
+ (video
+ :file "2-batteries/0-prepare-leads/1-wrap.ogv"))
+ (p [the solid core wire is the stiff short wire.
+ it is much easier to poke into the breadboard.])
+ (p [check])
+ (enumerate
+ (item [why are we using a solid core wire?])))
+ (subsubsection
+ :title [solder]
+ (p [do this next section and the previous with just one lead at a
+ time.
+ solder the stranded wire and solid core wire, as shown
+ in this video.])
+ (figure :legend "batteries / prepare leads / solder"
+ (video
+ :file "2-batteries/0-prepare-leads/2-solder.ogv"))
+ (p [soldering is the process of joining 2 metal things with
+ solder.])
+ (enumerate
+ (item [use the helping hands to grab the wires and hold them in
+ place.])
+ (item [clean off the tip of the soldering iron if it has been
+ sitting still for a while.
+ this cleans off corroded metal.])
+ (item [apply some solder directly to the tip of the soldering
+ iron.
+ this creates a pool of solder on the tip.
+ we will use this to transfer heat to the wires.])
+ (item [put the soldering iron up to the wires.
+ we want the wires to be hot enough to melt the
+ solder.
+ at the same time, poke the solder into the wire.
+ the solder will start melting and quickly spread to
+ hot parts of the wire.
+ there will be smoke.])
+ (item [move the solder away, then move the iron away.]))
+ (p [check])
+ (enumerate
+ (item [should the wires melt the solder?])
+ (item [why should we clean off the tip of the soldering iron?])
+ (item [why do we put more solder back on the tip of the iron?])))))
+ (section
+ :title [motor wiring]
+ (subsection
+ :title [leads]
+ (p [attach leads to the motors to supply the motor with power.])
+ (figure
+ :legend "motors / leads"
+ (video
+ :file "3-motor-assemblies/0-leads.ogv"))
+ (enumerate
+ (item [strip both the green and yellow wire on both ends.
+ strip one side only 1/8 inch.
+ strip the other side about 1/4 inch.])
+ (item [use the end of the wire stripper to bend a hook in the wire.
+ make this hook on the side of the wire with a smaller
+ exposed section.])
+ (item [do not bend the wire so that the exposed wire runs alongside
+ the sheath.])
+ (item [put the hooks through the tabs on the motor.
+ make sure to place the green and yellow wire on the
+ correct side of the motor.
+ match the side of the motor that already has wires
+ attached.
+ wrap the rest of the wire around the motor in order to
+ keep the wire from falling off.])
+ (item [once the wire is in place, wrap solder around the motor tab
+ and wire.
+ heat up the solder, motor tab and wire with the
+ soldering iron.])
+ (item [test the solder joint with the 9v battery.
+ touch the battery leads to the motor leads.
+ make sure the 9v battery is on.
+ if the motor moves, the solder joint is good!])
+ (item [get section of electrical tape, roughly 100mm
+ (about 4 inches).
+ slide the middle of the tape under the wires.
+ this tape will keep the solder joints away from the
+ metal band around the motor.])
+ (item [the zip tie will hold the wires to the motor.
+ wrap the zip tie on the round part of the motor where
+ it meets the square portion of the motor.
+ this will provide mechanical support for the solder
+ joints.
+ once the zip tie is wrapped, use wire strippers to cut
+ off the excess zip tie.])
+ (item [cover the solder joint with hot glue.
+ this will further keep the solder joints from corroding
+ in the air's moisture.
+ it will also keep the joint safe from anything poking
+ in.]))
+ (p [check])
+ (enumerate
+ (item [should the electrical tape go between the wires and the
+ metal band?])
+ (item [are the motor tabs strong?])
+ (item [what are we doing to reinforce the motor tabs mechanically?])
+ (item [does hot glue make an electrical connection?])))
+ (subsection
+ :title [motor mount]
+ (p [now let's attach the motor mount to the motor.])
+ (subsubsection
+ :title [angle bracket to motor mount]
+ (p [first, attach the angle brackets to the motor mounts with
+ #6-32x3/8 inch screws.])
+ (figure
+ :legend "motors / mount / angle bracket"
+ (video
+ :file "3-motor-assemblies/1-motor-mount/0-angle-brackets.ogv"))
+ (p [if you cover up 2 of the holes on the motor mount, the
+ remaining holes look like a surprised face.
+ these are the holes to attach the angle brackets.
+ make sure the angle brackets on one motor mount are attached
+ in a mirror image to the other.])
+ (p [check])
+ (enumerate
+ (item [should the motor mounts have angle brackets attached in
+ a mirror image fashion?])
+ (item [why should the motor mounts have angle brackets attached in
+ a mirror image fashion?])))
+ (subsubsection
+ :title [motor mount to motor]
+ (p [now attach the motor mount with angle brackets to the motor.])
+ (figure
+ :legend "motor / mount / mount to motor"
+ (video
+ :file
+ "3-motor-assemblies/1-motor-mount/1-motor-mount-to-motor.ogv"))
+ (p [we will attach the motor mount to the motor using #4 bolts.
+ these screws are thinner than the #6 bolts we have used.
+ to clamp down on the motor, we will use a #4 nut.
+ the white side of the nut should face outward.
+ this section of the nut will keep the nut from jiggling
+ loose off the bolt during normal operation.
+ the head of the #4 bolt is a philips head, so we will
+ use a philips head driver for it.])
+ (p [check])
+ (enumerate
+ (item [is the #4 bolt thicker or thinner than the #6?])
+ (item [do you have a ratcheting socket wrench, or not?]))))
+ (subsection
+ :title [deck attachment]
+ (p [now that the motor assemblies are together, we will attach them
+ to the deck.])
+ (figure
+ :legend "motor / motor assembly to deck"
+ (video
+ :file "3-motor-assemblies/2-motor-assembly-to-deck.ogv"))
+ (p [when attaching the motor assembly to the deck, be sure to push
+ the assembly as far outward from the center of the robot
+ as you can while tightening it down.
+ this will give more clearance to the wheels of the robot
+ so they do not rub the deck.])))
(section
:title [breadboard]
(p [next, let's attach other parts to the deck.
glue dots.
glue dots can be placed easily, are good at attaching flat
surfaces that directly touch and do not get much stress.])
- (p (figure
- :legend "breadboard to deck / required materials"
- (image
- :file "1-breadboard-to-deck/0-required-materials.png"))
- [for this section, we will need the deck with arduino attached,
- breadboard, and glue dots.]))
+ (figure :legend "breadboard to deck / required materials"
+ (image
+ :file "1-breadboard-to-deck/0-required-materials.png"))
+ (p [for this section, we will need the deck with arduino attached,
+ breadboard, and glue dots.])
+ (figure :legend "breadboard to deck / video"
+ (video
+ :file "1-breadboard-to-deck/0-breadboard-to-deck.ogv"))
+ (enumerate
+ (item [take your breadboard out of its bag.])
+ (item [peel the backing.])
+ (item [put the shiny medal plate on the back.])
+ (item [break 4 glue dots away from the rest. put the rest back
+ into the bag.])
+ (item [break off a glue dot from the group of 4, and peel away the
+ backing, exposing a sticky side.])
+ (item [put the glue dot on one corner of the shiny side of the
+ breadboard.
+ make sure to push it down firmly.])
+ (item [repeat for the other corners.])
+ (item [put the breadboard on the center of the deck.
+ position it so the black chip is on the right, and the
+ blue line is up against the arduino.])
+ (item [press firmly in each of the corners.]))
+ (p [check])
+ (enumerate
+ (item [should the black chip be on the right or the left?])
+ (item [how many glue dots should be on the breadboard?])))
(section
- :title [battery packs]
- (subsection
- :title [leads])
- (subsection
- :title [deck attachment]))
+ :title [battery attachment]
+ (subsection
+ :title [motor battery pack attachment]
+ (p [attach the motor battery pack to the robot deck.])
+ (figure
+ :legend "batteries / placement / motor pack"
+ (video
+ :file "2-batteries/1-placement/0-motor-battery-pack.ogv"))
+ (p [we will use glue dots to attach the motor battery pack to the
+ deck.
+ the pack could be placed anywhere, but we will place it
+ in the lower left side of the robot.
+ this battery pack has 4 AA batteries in it.
+ each battery has 1.5 volts difference between the positive
+ and negative side.
+ the batteries are connected in series.
+ the total voltage difference for the whole battery pack is
+ the sum of the individual voltages, which is 6 volts.])
+ (enumerate
+ (item [make sure you are placing dots on the side of the battery
+ pack without the on/off switch.])
+ (item [peel off a glue dot for each of the corners of the
+ battery pack.])
+ (item [when placing the battery pack, make sure the screw hole
+ aligns with a hole on the deck.]))
+ (p [check])
+ (enumerate
+ (item [why place the glue dots on the side of the battery pack
+ without the on/off switch?])))
+ (subsection
+ :title [arduino battery pack attachment]
+ (p [attach the arduino battery pack to the robot deck.])
+ (figure
+ :legend "batteries / placement / arduino pack"
+ (video
+ :file "2-batteries/1-placement/1-arduino-battery-pack.ogv"))
+ (p [next, we will attach the arduino battery pack to the deck.
+ again, the pack could be placed anywhere, but we will
+ place it in the lower right side of the robot.])
+ (enumerate
+ (item [make sure you are placing dots on the side of the battery
+ pack without the on/off switch, just as before.])
+ (item [peel off a glue dot for each end of the pack.])
+ (item [when placing the battery pack, make sure the screw hole
+ aligns with a hole on the deck.]))
+ (p [check])
+ (enumerate
+ (item [why align the screw with a hole on the deck?]))))
(section
- :title [motors]
- (subsection
- :title [leads])
- (subsection
- :title [mount])
- (subsection
- :title [deck attachment]))
+ :title [caster]
+ (p [the caster will go at the back of the robot and provide a third
+ point of contact for the robot, making it easier for it to
+ balance.])
+ (figure
+ :legend "caster"
+ (video :file "4-caster-to-deck.ogv"))
+ (p [check])
+ (enumerate
+ (item [what would happen if the robot did not have a caster?])))
(section
:title [wheels]
- (subsection
- :title [tread])
- (subsection
- :title [motor]))
- (section
- :title [caster]
- (subsection
- :title [deck placement]))
+ (p [now we will attach the wheels.
+ this makes the motor movement transform into robot movement!])
+ (figure
+ :legend "wheel"
+ (video :file "5-wheel-to-robot-assembly.ogv"))
+ (p [check])
+ (enumerate
+ (item [does the robot's wheels scrape the deck?])
+ (item [what would happen if the robot had no wheels?])
+ (item [what does the tread do?])
+ (item [what is the tread?])
+ (item [what kind of screw is used?])))
(section
:title [sonars]
- (subsection
- :title [deck placement])))
+ (p [we are almost done with mechanical assembly!
+ this next step is to add the sonar sensors to the robot.
+ sonar sensors are what the robot uses to detect distances.
+ it sends out a signal, then listens for a response and
+ keeps track of how long it takes.])
+ (figure
+ :legend "sonar sensors"
+ (video :file "6-sonar-sensors-to-deck.ogv"))
+ (p [check])
+ (enumerate
+ (item [are your sonar sensors pointy pins facing in toward the
+ arduino?])
+ (item [was it difficult to get the sonar into the holder?])
+ (item [what would happen if it was easy to slip the sonar sensor
+ into the sonar holder?]))))
(chapter
:title [wiring and software]
(section
:title [serial]
+ :number "0"
(subsection
:title [software on computer]
(subsubsection
projects / challenge-bot / blobdiff