finished instructions for robot assembly and setup. now for some polishing
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@ -37,19 +37,23 @@ For the camera based position detection of the robots you will need:
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Assemble the chassis according to the instructions provided by adafruit ([see here](https://learn.adafruit.com/tri-layer-mini-round-robot-chassis-kit)).
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Assemble the chassis according to the instructions provided by adafruit ([see here](https://learn.adafruit.com/tri-layer-mini-round-robot-chassis-kit)).
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### Soldering the electronics
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### Soldering the electronics
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1. Solder on two rows of 8 male pin headers to the D1 mini
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####Preparing Wemos D1 mini and shields
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2. Solder on two rows of 8 female pin headers to the battery shield
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| Description | Image|
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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 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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| 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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| Cut off the tips of the long pins such that the battery shield nicely fits into the motor 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.
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#### Connecting battery shield and motor shield for motor power supply
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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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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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5. 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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6. 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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| Description | Image|
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| Description | Image|
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|--------------|---------------|
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|--------------|---------------|
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@ -60,8 +64,7 @@ Assemble the chassis according to the instructions provided by adafruit ([see he
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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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7. 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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@ -71,9 +74,13 @@ Assemble the chassis according to the instructions provided by adafruit ([see he
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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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8. 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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| This is how it should look like in the end. Make sure all of the exposed wires are covered in heat shrink |   |
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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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### Next steps
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This concludes the main steps for the robot assembly. The next step is to fix a problem with the firmware on the motor shield in order to use it via I2C. Head over to [2_MOTOR_SHIELD_FIX.md](https://imaginaerraum.de/git/Telos4/RoboRally/src/branch/master/docs/2_MOTOR_SHIELD_FIX.md) for the instructions.
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@ -79,9 +79,11 @@ Use some jumper cables to connect the motor shield and the D1 mini in the follow
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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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@ -154,5 +156,7 @@ Wrote and verified address 0x08000be8 (100.00%) Done.
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Finally, you can remove the wire between RTS and 3V.
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Finally, you can remove the wire between RTS and 3V.
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At this point, please make sure that the I2C bridge on the Wemos Motor shield is connected. This is necessary for I2C to work correctly.
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At this point, please make sure that the I2C bridge on the Wemos Motor shield is connected. This is necessary for I2C to work correctly.
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### Next steps
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Continue with the instructions in the file [3_ROBOT_SETUP.md](https://imaginaerraum.de/git/Telos4/RoboRally/src/branch/master/docs/3_ROBOT_SETUP.md) to complete the setup of the robot.
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@ -1,6 +1,6 @@
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# Robot setup
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# Robot setup
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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 and that you updated the firmware of the motor shield as described in 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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@ -8,7 +8,7 @@ Before we start, stack the D1 mini ontop of the battery shield and connect it to
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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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You can download the latest micropython firmware for the ESP8266 from [here](http://micropython.org/download#esp8266). I used version _esp8266-20190125-v1.10.bin_
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You can download the latest micropython firmware for the ESP8266 from [here](http://micropython.org/download#esp8266). I used version _esp8266-20190125-v1.10.bin_ but you can also use a more recent version.
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The firmware can be flashed on the D1 mini using the following commands:
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The firmware can be flashed on the D1 mini using the following commands:
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```
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```
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$ esptool.py --port /dev/ttyUSB0 erase_flash
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$ esptool.py --port /dev/ttyUSB0 erase_flash
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@ -116,4 +116,16 @@ Now you're all set up for controlling your robot remotely via wifi.
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You can control the robot by sending commands to the robot as a string containing `'(u1, u2)\n'`, where `u1` and `u2` are floats in the range `[-1.0, 1.0]`, e.g. `'(0.3, -0.6)\n'`.
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You can control the robot by sending commands to the robot as a string containing `'(u1, u2)\n'`, where `u1` and `u2` are floats in the range `[-1.0, 1.0]`, e.g. `'(0.3, -0.6)\n'`.
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Have a look at the `keyboard_controller.py` script to see how this works in python.
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Have a look at the `keyboard_controller.py` script to see how this works in python.
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### Isolating the electronics
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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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### 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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### 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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