diff --git a/docs/1_ASSEMBLY.md b/docs/1_ASSEMBLY.md index 3d36fe7..f147c40 100644 --- a/docs/1_ASSEMBLY.md +++ b/docs/1_ASSEMBLY.md @@ -5,6 +5,7 @@ This file contains assembly instructions for building the robots and soldering t ## 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) @@ -12,6 +13,7 @@ The robot consists of the following components: * LiPo battery In addition you will need the following tools: + * A soldering iron * Solder wire * Heat shrink tube @@ -23,6 +25,7 @@ In addition you will need the following tools: * Pin headers For the camera based position detection of the robots you will need: + * A camera * A printer * Paper @@ -30,7 +33,7 @@ For the camera based position detection of the robots you will need: ## Assembly instructions -#### Robot chassis +### 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 @@ -39,37 +42,38 @@ Assemble the chassis according to the instructions provided by adafruit ([see he 2. Solder on two rows of 8 female pin headers to the battery shield - 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. -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: -![](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_bb.jpg) +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: +![Battery Shield Wires](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_bb.jpg) *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: | +6. First, solder two wires to the + and - pins of the battery shield and isolate them with heat shrink: + +| Description | Image| |--------------|---------------| -|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) | +|Cut two small pieces of wire (about 4 cm), remove the isolation on both ends and cover them with a bit of solder | ![Battery Shield Wires](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 | ![Battery Shield Wires](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_3.jpeg) | +| Solder the second wire to the - pin | ![Battery Shield Wires](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 | ![Battery Shield Wires](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_5.jpeg) | +| Heat the shrink tube with a lighter | ![Battery Shield Wires](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 | ![Battery Shield Wires](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_6.5.jpeg) | -|Next, we create a connector for the female JST 2-Pin connector for pluggin in the battery: | | +7. Next, we create a connector for the female JST 2-Pin connector for pluggin in the battery: + +| Description | Image| |--------------|---------------| -| 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) | +| Cut two small pieces of wire (about 3 cm), remove the isolation on both ends and cover them with a bit of solder | ![Battery Shield Wires](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_7.jpeg) | +| Solder the first wire to the JST connector |![Battery Shield Wires](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_8.jpeg) | +| Solder the second wire to the JST connector | ![Battery Shield Wires](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_9.jpeg) | +| Cover both wires with heat shrink | ![Battery Shield Wires](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!)* | ![Battery Shield Wires](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_11.jpeg) | -| Now, stack the battery shield on top of the motor shield and solder the | | -|---|---| -| 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) | +8. Now, stack the battery shield on top of the motor shield and solder the battery connector: -| Now it is time to connect the D1 mini to your computer | | +| Description | Image| |---|---| -|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) | +| This is how it should look like in the end. Make sure all of the exposed wires are covered in heat shrink | ![Battery Shield Wires](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_12.jpeg) ![Battery Shield Wires](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_14.jpeg) | +