+# HBRC 2013 Challenge Robot
+
+## 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
+
+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.
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