From b3053d4656106cd712c46f8717556f24989571e3 Mon Sep 17 00:00:00 2001 From: "Wayne C. Gramlich" Date: Tue, 2 Jul 2013 20:48:14 -0700 Subject: [PATCH] Brought in original proposal and converted to README.md. --- .gitignore | 3 + Makefile | 24 ++++++ README.md | 222 ++++++++++++++++++++++++++++++++++++++++++++++++++++- 3 files changed, 246 insertions(+), 3 deletions(-) create mode 100644 .gitignore create mode 100644 Makefile diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..2bdc956 --- /dev/null +++ b/.gitignore @@ -0,0 +1,3 @@ +*.html +*.pdf +*~ diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..4ab7d93 --- /dev/null +++ b/Makefile @@ -0,0 +1,24 @@ +MARKDOWNS := \ + README.md +HTMLS := \ + ${MARKDOWNS:%.md=%.html} \ + index.html +PDFS :=\ + ${HTMLS:%.html=%.pdf} + +all: ${HTMLS} ${PDFS} + echo HTMLS=${HTMLS} + echo PDFS=${PDFS} + +index.html: README.html + cp $< $@ + +clean: + rm -f ${HTMLS} ${PDFS} + +%.html: %.md + markdown $< > $@ + +%.pdf: %.html + htmldoc --numbered --book --no-title --header /// -f $@ $< + diff --git a/README.md b/README.md index 93966a7..dfdbef7 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,220 @@ -challenge-bot -============= +# 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. -Information about the 2013 HBRC Challenge Robot. -- 2.30.2