polishing for assembly instructions
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This file contains assembly instructions for building the robots and soldering the electronics.
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This file contains assembly instructions for building the robots and soldering the electronics.
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Here is how the finished robot will look like:
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## Components
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## Components
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The robot consists of the following components:
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The robot consists of the following components:
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@ -42,15 +45,15 @@ Assemble the chassis according to the instructions provided by adafruit ([see he
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| Description | Image|
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| Description | Image|
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|--------------|---------------|
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|--------------|---------------|
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| Solder on two rows of 8 male pin headers to the D1 mini |  |
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| Solder on two rows of 8 male pin headers to the D1 mini |  |
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| Solder on two rows of 8 female pin headers to the motor shield . |  |
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| Solder on two rows of 8 female pin headers to the motor shield . |  |
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| Also solder a single row of bent pins to the motor shield. Make sure they are soldered on the right way around.| |
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| Also solder a single row of bent pins to the motor shield. Make sure they are soldered on the right way around.| |
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| 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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| 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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| Solder on two rows of 8 female pin headers with long pins to the battery shield |   |
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| Solder on two rows of 8 female pin headers with long pins to the battery shield |   |
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| Cut off the tips of the long pins such that the battery shield nicely fits into the motor shield |    |
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| Cut off the tips of the long pins such that the battery shield nicely fits into the motor shield |    |
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#### Connecting battery shield and motor shield for motor power supply
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#### Connecting battery shield and motor shield for motor power supply
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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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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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*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*
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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*
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- First, solder two wires to the + and - pins of the battery shield and isolate them with heat shrink:
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- First, solder two wires to the + and - pins of the battery shield and isolate them with heat shrink:
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@ -58,28 +61,28 @@ In the next step we connect the battery connector pins of the battery shield to
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| Description | Image|
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| Description | Image|
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|--------------|---------------|
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|--------------|---------------|
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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 | |
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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 | |
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|Solder the first wire to the + pin of the battery shield |  |
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|Solder the first wire to the + pin of the battery shield |  |
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| Solder the second wire to the - pin |  |
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| Solder the second wire to the - pin |  |
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| Cover both wires with small pieces of heat shrink tube |  |
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| Cover both wires with small pieces of heat shrink tube |  |
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| Heat the shrink tube with a lighter |  |
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| Heat the shrink tube with a lighter |  |
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| This is how the battery shield should look like with the two wires |  |
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| This is how the battery shield should look like with the two wires |  |
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- Next, we create a connector for the female JST 2-Pin connector for plugin in the battery:
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- Next, we create a connector for the female JST 2-Pin connector for plugin in the battery:
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| Description | Image|
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| Description | Image|
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|--------------|---------------|
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|--------------|---------------|
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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 |  |
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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 |  |
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| Solder the first wire to the JST connector | |
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| Solder the first wire to the JST connector | |
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| Solder the second wire to the JST connector |  |
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| Solder the second wire to the JST connector |  |
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| Cover both wires with heat shrink |  |
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| Cover both wires with heat shrink |  |
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| Solder the wires to the motor shield, paying attention to the polarity *(make sure it matches the polarity of your batteries!)* |  |
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| Solder the wires to the motor shield, paying attention to the polarity *(make sure it matches the polarity of your batteries!)* |  |
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- Now, stack the battery shield on top of the motor shield and solder the battery connector:
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- Now, stack the battery shield on top of the motor shield and solder the battery connector:
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| Description | Image|
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| Description | Image|
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|---|---|
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| Connect the + pin of the battery shield to the + pin of the motor shield. Be sure to isolate the connection with heat shrink. Then repeat the same for the - pins. | |
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| Connect the + pin of the battery shield to the + pin of the motor shield. Be sure to isolate the connection with heat shrink. Then repeat the same for the - pins. | |
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| This is how it should look like in the end. |   |
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| This is how it should look like in the end. |   |
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### Next steps
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### Next steps
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@ -78,12 +78,12 @@ Use some jumper cables to connect the motor shield and the D1 mini in the follow
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|3V | 3V|
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|3V | 3V|
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|GND | GND |
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|GND | GND |
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### Flash the new firmware on the STM32:
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### Flash the new firmware on the STM32:
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- Connect the D1 mini to your PC using a micro USB cable.
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- Connect the D1 mini to your PC using a micro USB cable.
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- Check if you can communicate with the STM32:
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- Check if you can communicate with the STM32:
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```
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```
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$ stm32flash /dev/ttyUSB0
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$ stm32flash /dev/ttyUSB0
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This file explains how to setup the software for the robots. It assumes that you already assembled your robot according to the instructions in [1_ASSEMBLY.md](https://imaginaerraum.de/git/Telos4/RoboRally/src/branch/master/docs/1_ASSEMBLY.md) and that you updated the firmware of the motor shield as described in [2_MOTOR_SHIELD_FIX.md](https://imaginaerraum.de/git/Telos4/RoboRally/src/branch/master/docs/2_MOTOR_SHIELD_FIX.md).
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This file explains how to setup the software for the robots. It assumes that you already assembled your robot according to the instructions in [1_ASSEMBLY.md](https://imaginaerraum.de/git/Telos4/RoboRally/src/branch/master/docs/1_ASSEMBLY.md) and that you updated the firmware of the motor shield as described in [2_MOTOR_SHIELD_FIX.md](https://imaginaerraum.de/git/Telos4/RoboRally/src/branch/master/docs/2_MOTOR_SHIELD_FIX.md).
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Before we start, stack the D1 mini ontop of the battery shield and connect it to your computer using a micro USB cable:
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Before we start, stack the D1 mini ontop of the battery shield and connect it to your computer using a micro USB cable:
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### Flash Micropython to the Wemos D1 mini
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### Flash Micropython to the Wemos D1 mini
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The first step is to flash the micropython firmware to the D1 mini.
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The first step is to flash the micropython firmware to the D1 mini.
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Join the same WiFi network with your PC (either the access point or the local network) and connect to the D1 mini via the [online WebREPL](http://micropython.org/webrepl):
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Join the same WiFi network with your PC (either the access point or the local network) and connect to the D1 mini via the [online WebREPL](http://micropython.org/webrepl):
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Enter IP from above and click connect. Login with the password you set for the WebREPL.
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Enter IP from above and click connect. Login with the password you set for the WebREPL.
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### Making settings permanent
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### Making settings permanent
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In order to avoid having to set up the WebREPL and the WiFi everytime we reboot the robot we can upload a file called boot.py which runs each time the robot restarts:
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In order to avoid having to set up the WebREPL and the WiFi everytime we reboot the robot we can upload a file called boot.py which runs each time the robot restarts:
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# TODO end edit
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# TODO end edit
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```
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```
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- Upload boot.py via WebREPL
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- Upload boot.py via WebREPL
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- Now the robot will automatically connect to WiFi network you set and start a WebREPL server after reboot.
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- Now the robot will automatically connect to WiFi network you set and start a WebREPL server after reboot.
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*Note: If the WiFi network cannot be found the microcontroller will instead open an access point.*
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*Note: If the WiFi network cannot be found the microcontroller will instead open an access point.*
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@ -88,11 +88,11 @@ You can upload these files the same way you did before with the WebREPL. After u
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Now it's time to test if everything is working fine.
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Now it's time to test if everything is working fine.
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- Disconnect the USB cable from the microcontroller and connect the battery to the battery connector:
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- Disconnect the USB cable from the microcontroller and connect the battery to the battery connector:
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- Next, connect the two motors of the robot to the motor shield according to the following sketch:
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- Next, connect the two motors of the robot to the motor shield according to the following sketch:
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- Test if you can reach the robot using
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- Test if you can reach the robot using
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```
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```
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@ -120,12 +120,12 @@ Have a look at the `keyboard_controller.py` script to see how this works in pyth
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Since the mounting plates of the robot are made of metal it is a good idea to put some isolation around the electronics. You can use some isolation tape to cover the exposed connections:
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Since the mounting plates of the robot are made of metal it is a good idea to put some isolation around the electronics. You can use some isolation tape to cover the exposed connections:
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You can also add some velcro tape to the electronics, the battery and the robot to easily attach and remove the microcontroller from the robot.
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You can also add some velcro tape to the electronics, the battery and the robot to easily attach and remove the microcontroller from the robot.
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### Charging the battery
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### Charging the battery
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In order to charge the battery of the robot just plug a micro USB cable into the USB port of the battery shield.
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In order to charge the battery of the robot just plug a micro USB cable into the USB port of the battery shield.
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### Next steps
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### Next steps
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The next step is to setup the position detection using ROS. For this see the 4_ROS_SETUP.txt
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The next step is to setup the position detection using ROS. For this see the 4_ROS_SETUP.txt
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