RoboRally/docs/1_ASSEMBLY.md

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# Robot assembly
This file contains assembly instructions for building the robots and soldering the electronics.
## Components
The robot consists of the following components:
* [Adafruit Mini 3-Layer Round Robot Chassis Kit](https://www.adafruit.com/product/3244)
* [Wemos D1 mini](https://aliexpi.com/41SY)
* [Wemos D1 mini battery shield](https://aliexpi.com/sNwB)
* [Wemos D1 mini motor shield (v1.0.0)](https://aliexpi.com/wngF)
* LiPo battery
In addition you will need the following tools:
* A soldering iron
* Solder wire
* Heat shrink tube
* Some wires
* Battery connectors (female)
* Velcro tape
* Self adhesive tape
* Isolation tape
* Pin headers
For the camera based position detection of the robots you will need:
* A camera
* A printer
* Paper
* Cardboard
## Assembly instructions
#### Robot chassis
Assemble the chassis according to the instructions provided by adafruit ([see here](https://learn.adafruit.com/tri-layer-mini-round-robot-chassis-kit)).
### Soldering the electronics
1. Solder on two rows of 8 male pin headers to the D1 mini
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![D1 mini](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/d1_mini_pins.jpg)
2. Solder on two rows of 8 female pin headers to the battery shield
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3. Solder on two rows of 8 female pin headers to the motor shield as well as a single row of bent pins. Make sure they are soldered on the right way around.
4. In addition solder a jumper to the motor shield to connect the RTS and 3V pin. This will become important later on. Also solder the I2C bridge.
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3. In the next step we connect the battery connector pins of the battery shield to the + and - pins of the motor shield. In addition we will add a connector to the motor shield where we can plug in the battery. Here is a schematic:
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![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_bb.jpg)
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*Note: I added a new connector instead of using the one already on the battery shield because the plug of my battery wouldn't fit in the on on the shield*
|First, solder two wires to the + and - pins of the battery shield and isolate them with heat shrink: |
|--------------|---------------|
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|Cut two small pieces of wire (about 4 cm), remove the isolation on both ends and cover them with a bit of solder | ![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_batter_stack_2.jpeg)|
|Solder the first wire to the + pin of the battery shield | ![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_3.jpeg) |
| Solder the second wire to the - pin | ![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_4.jpeg) |
| Cover both wires with small pieces of heat shrink tube | ![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_5.jpeg) |
| Heat the shrink tube with a lighter | ![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_6.jpeg) |
| This is how the battery shield should look like with the two wires | ![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_6.5.jpeg) |
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|Next, we create a connector for the female JST 2-Pin connector for pluggin in the battery: | |
|--------------|---------------|
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| Cut two small pieces of wire (about 3 cm), remove the isolation on both ends and cover them with a bit of solder | ![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_7.jpeg) |
| Solder the first wire to the JST connector |![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_8.jpeg) |
| Solder the second wire to the JST connector | ![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_9.jpeg) |
| Cover both wires with heat shrink | ![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_10.jpeg) |
| Solder the wires to the motor shield, paying attention to the polarity *(make sure it matches the polarity of your batteries!)* | ![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_11.jpeg) |
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| Now, stack the battery shield on top of the motor shield and solder the | |
|---|---|
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| This is how it should look like in the end. Make sure all of the exposed wires are covered in heat shrink | ![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_12.jpeg) ![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_14.jpeg) |
| Now you can stack the D1 mini ontop of the battery shield | ![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_13.jpeg) |
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| Now it is time to connect the D1 mini to your computer | |
|---|---|
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|Use a micro USB cable to connect the D1 mini to your computer | ![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/usb_connection.jpeg) |