add code for phase0 through phase3

[challenge-bot] / phase2 / README.md

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+### Phase 2: Build TableTop Challenge Phase 1
+
+Goals:
+
+* Cut out two pieces of Peg Board
+* Drill mounting holes for sonar module
+* Crimp connectors to cable
+* Mount Sonar modules to Robot base
+* Plug Sonar modules into breadboard + Arduino
+* Develop table top challenge code
+
+Bill of Materials:
+
+* 1  ?in x ?in peg board sonar holders
+* 2  Sonar sensors (EBay: HC-SR04 ~$4/2)
+* 4  2x8 .1in Female IDC connectors
+* 2  12in 8 conductor ribbon cable
+* 2  1x4 .1in Male-to-Male Headers
+* 4  #4-40 Phillips Pan Head Screws
+* 8  #4-40 Hex nuts
+* 4  #4 Washers
+* 4  #4 internal tooth lock washers
+* 2  #6-32 Phillips Pan Head Screws
+* 2  #6-32 Hex Nuts
+* 4  #6 Washers
+* 2  #6 internal tool lock washers
+* 1  18" of twine (for a Wyland leash)
+
+Additional Required Tools:
+
+* 1  Benchtop vice
+
+That provides the basic configuration.
+
+## Rechargable Battery Upgrade
+
+This gets rid of the hassle of buying and throwing
+away AA batteries.
+
+Bill of Materials:
+
+* 2  7.2V 1300mAh LiPo Battery Packs (Trossen: BAT-7V1300M: $26/2)
+* 1  LiPo Battery Charger (Trossen: KIT-CHG-LIPO: ($16+$11)/1)
+* 2  Female Deans Connector (TBD)
+* 1  DPDT Power Switch (TBD)
+
+## Raspberry Pi Upgrade
+
+The DC-DC convert is rated for 1.5A and can be
+plugged into the breadboard.  The ribbon cable
+can be assembled with just a vise.  The RasPi
+allows 5V to be injected over the cable.  Obviously
+the RasPi allows people to start trying out ROS.
+
+Bill of Materials:
+
+* 1 Raspberry Pi Model B 512MB (Newark: $35)
+* 1 OKI-78SR-5/1.5-W36: 5V@1.5A DC/DC Switcher (Digikey: $4.30)
+* 1 2x13 Female Ribbon Cable Header
+* 1 16-conductor chunk of ribbon cable
+* 1 2x8 Female Ribbon Cable Header
+* 1 1x8 Male to Male pins header pins
+
+## Odometry Upgrade
+
+This upgrade requires some work.
+
+Bill of Materials:
+
+* 2  AS5055 ($10/2)
+* 2  AS5055 PCB's
+* 2  Appropriate magnet ($2/2)
+* 2  GM3 to magnet shaft adaptor
+
+An adaptor from the GM3 to Magnet is needed;
+this would be custom made out of some plastic.
+In addition a custom PCB is needed to hold
+the AS5055 which is a surface mount chip.
+
+## WiFi Upgrade
+
+Something like the GMYLE using the RTL8191SU should
+do the trick.  With this it is possible to network
+into your robot.  There it may be necessary to have
+separate power injection for the Wi-Fi.
+
+Bill of Materials:
+
+*  1 USB WiFi Dongle with decent antenna (Amazon: ~9)
+
+## Camera Upgrade
+
+This RasPi camera has not shipped yet, but it seems
+to be nearing the end of prototyping.  A USB camera
+is another alternative.
+
+Bill of Materials:
+
+* 1 RasPi Camera (~$25)
+
+## Cheap Arm Upgrade
+
+Bill of Materials:
+* 4 Hobby servos (base twist, shoulder, elbow, gripper)
+* 1 Gripper (Jameco 358811: $20)
+*   Appropriate struts
+
+This is a low payload arm that can lift 10-20 oz max.