X-Git-Url: http://challenge-bot.com/repos/?p=challenge-bot;a=blobdiff_plain;f=guide%2Fchallenge-bot.scm;h=993880cf58673bd8fe2723b2fd47c38dc49944b4;hp=8272d5a4caa11f47b15ff487d65d4888a6657677;hb=56fffacb9f19444f6ab08e02114514d543208db3;hpb=6205157f342143a03e1c0853b7284693add7745a diff --git a/guide/challenge-bot.scm b/guide/challenge-bot.scm index 8272d5a..993880c 100644 --- a/guide/challenge-bot.scm +++ b/guide/challenge-bot.scm @@ -3,11 +3,14 @@ (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] @@ -52,7 +55,7 @@ (image :file "0-arduino-to-deck/screw-cross-section.png")) (p [check]) - (itemize + (enumerate (item [what would happen if the drill bit were larger than the screw thread?]) @@ -75,7 +78,7 @@ make sure that the teeth end up gripping the flat part of the drill bit.]) (p [check]) - (itemize + (enumerate (item [where should the teeth clamp down on the drill bit?]) (item @@ -105,7 +108,7 @@ place the arduino hole mid-way between the two deck holes.]) (p [check]) - (itemize + (enumerate (item [should the arduino be upside-down?]) (item @@ -138,7 +141,7 @@ (item [once the drill is back out of the hole, let go of the trigger])) (p [check]) - (itemize + (enumerate (item [should the drill be at full speed while the drill bit is going down into the wood and coming back up?]) @@ -165,7 +168,7 @@ (item [once the drill is back out of the hole, let go of the trigger])) (p [check]) - (itemize + (enumerate (item [should the drill be at full speed while the drill bit is going down into the wood and coming back up?]) @@ -183,7 +186,7 @@ (figure :legend "arduino to deck / #6-32 screw" (image :file "0-arduino-to-deck/6-32-screw.png")) (p [check]) - (itemize + (enumerate (item [in the motor assembly, there are #4-40x1.25\" screws. are those fatter, thinner, or the same thickness as the @@ -197,7 +200,7 @@ (p [the head is the flat part where some tool, like the alan wrench, can exert force to spin the screw.]) (p [check]) - (itemize + (enumerate (item [how many times will the thread wrap around one inch of the screw body?]) (item [what about 2 inches? @@ -228,7 +231,7 @@ (p [the arduino should still be flat against the deck still, just as it was before tightening the screw.]) (p [check]) - (itemize + (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?]))) @@ -319,7 +322,7 @@ blue line is up against the arduino.]) (item [press firmly in each of the corners.])) (p [check]) - (itemize + (enumerate (item [should the black chip be on the right or the left?]) (item [how many glue dots should be on the breadboard?]))) (section @@ -350,7 +353,7 @@ make sure the heat shrink is either clear or matches the color of the lead.])) (p [check]) - (itemize + (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 @@ -368,7 +371,7 @@ (p [the solid core wire is the stiff short wire. it is much easier to poke into the breadboard.]) (p [check]) - (itemize + (enumerate (item [why are we using a solid core wire?]))) (subsubsection :title [solder] @@ -400,7 +403,7 @@ there will be smoke.]) (item [move the solder away, then move the iron away.])) (p [check]) - (itemize + (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?])))) @@ -511,25 +514,107 @@ (item [what are we doing to reinforce the motor tabs mechanically?]) (item [does hot glue make an electrical connection?]))) (subsection - :title [deck attachment])) - (section - :title [wheels] - (subsection - :title [tread]) + :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 [motor])) + :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 [caster] - (subsection - :title [deck placement])) + (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] + (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