X-Git-Url: http://challenge-bot.com/repos/?p=challenge-bot;a=blobdiff_plain;f=README.md;h=9a3238ae9852a14019a32e385177e5582758b4b3;hp=dfdbef788cf6bf015ed789c404ea3270562e960d;hb=ce941be740b45737d19eaa5c726b2f99efabe0b9;hpb=b3053d4656106cd712c46f8717556f24989571e3 diff --git a/README.md b/README.md index dfdbef7..9a3238a 100644 --- a/README.md +++ b/README.md @@ -1,220 +1,32 @@ -# HBRC 2013 Challenge Robot +# challenge-bot -## Introduction - -For 2013, it is proposed that there be a "club bot". -The goal is to learn from the 2011 "club bot" and -improve upon it. - -Most introductory robots are "dead-end" robots that -tend to strand people after they have the first -few robot behaviors are implemented -- obstacle avoid, -wall follow, line follow, don't fall off table, etc. - -One of the primary goals of the 2013 robot is to try -to make it expandable from simple to more complex in -reasonable incremental steps. - -The base is organized around 1in x 1in grid peg-board -which is readily available from locations link Home -Depot, Lowes, and lumber stores. - -There would be a variety of independent upgrades -that could be done in whatever order the user -feels inclined to use: - -## Basic Platform: - -The basic robot would be built in three phases: - -### Phase 1: Arduino + Blinky LED's: - -Goals: - -* Cut peg board to size using hack saw -* Get Arduino IDE installed on laptop. -* Drill Arduino mounting holes in peg board -* Mount Arduino to peg board using screws -* Mount Mini Breadboard to peg board -* Install LED + resistor on breadboard -* Hook up LED to Arduino -* Download Blinky LED program - -Bill of Materials: - -* 1 Arduino(tm) board + USB Cable (SainSmart: 20-011-110: ~$14/10) -* 1 Mini BreadBoard (Ebay: ~$3/10) -* 1 Breadboard cables (Ebay: ~$4/10) -* 1 4in x 5in peg board to mount arduino + miniboard -* 4 small squares of double sided tape -* 3 #4-40 Phillips 1/2" flat-head screws -* 6 #4-40 hex nuts -* 3 #4 lock washers -* 2 Red LED's -* 2 Yellow LED's -* 2 Green LED's -* 6 330 Ohm Resistors - -Required Tools: - -* 1 Safety glasses!!! -* 1 Laptop Windows or MacOS or Linux -* 1 Hack saw (to cut peg board) -* 1 Phillips screw driver -* 1 Drill + Drill Bits -* 1 Pliers - -### Phase 2: Build Robot Platform - -Goals: - -* Solder 2 motor wires to each motor -* Mount Motors to brackets -* Mount brackets to base -* Attach to caster to base -* Attach Arduino+Breadboard to peg board base with screws -* Install SN754410NE on breadboard -* Connect motors to breadboard -* Connect Arduino to breadboard -* Download a program to make the base move forward and backward - -Bill of Materials: - -* 1 8in x 8in peg board for robot base -* 2 GM3 gear motors (Solarbotics: $11.50/2) -* 2 GMPW Wheels (Solarbotics: $6.50/2) -* 2 Wheel brackets (custom: ~$3/2) -* 1 4AA Battery Holder w/cover&switch (Jameco: 216187: ~$1.05) -* 1 9V Battery Holder w/cover&switch (Jameco: 2128067: ~$1.40) -* 4 AA Batteries (Brooklyn Batteries) -* 1 9V Battery (Brooklyn Batteries) -* 1 Ball Castor (Walgreens: Roll-on Deoderant: ~$3) -* 1 SN754410NE Dual H-Bridge (Future: ~$1) -* 14 #6-32 3/4in Phillips Pan-Head screws (Olander) -* 21 #6 Washers (Olander) -* 28 #6-32 Hex Nuts (Olander) -* 14 #6 internal tooth lock washers (Olander) -* 4 #4-40 1in Phillips Flat-Head screws (Olander) -* 4 #4-40 Regular Pattern Hex Nut (Olander) -* 2 #4-40 3/4in Phillips Flat-Head screws (Olander) -* 2 #4-40 Small Pattern Hex Nut (Olander) -* 2 Nylon ties (Frys) -* 5 Rubber bands (Office Depot) - -Additional Required Tools: - -* 1 Soldering iron -* 1 Roll of solder -* 1 Solder tip cleaner -* 1 Diagonal cutter -* 1 Wire Stripper - -### Phase 3: Build TableTop Challenge Phase 1 +## prerequisites -Goals: +install the following software: -* 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 +[openSCAD](http://www.openscad.org/downloads) -Bill of Materials: +[fritzing](http://fritzing.org/download/) -* 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) +[arduino ide](http://arduino.cc/en/Main/Software) -Additional Required Tools: +## quickstart -* 1 Benchtop vice +[openSCAD tutorial](http://goo.gl/E3OQXc) -That provides the basic configuration. +[build the challenge-bot](http://goo.gl/XgB0xq) -## 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 +## Introduction -Bill of Materials: -* 4 Hobby servos (base twist, shoulder, elbow, gripper) -* 1 Gripper (Jameco 358811: $20) -* Appropriate struts +Most introductory robots are "dead-end" robots that +tend to strand people after they have the first +few robot behaviors implemented -- obstacle avoid, +wall follow, stay on table, etc. -This is a low payload arm that can lift 10-20 oz max. +One of the primary goals of the challenge-bot is to try +to make it expandable from simple to more complex in +reasonable incremental steps. +The base is organized around 1-inch x 1-inch grid peg-board +which is readily available from locations such as Home +Depot, Lowes, and lumber stores.