91 lines
7.0 KiB
Markdown
91 lines
7.0 KiB
Markdown
# Robot assembly
|
|
|
|
This file contains assembly instructions for building the robots and soldering the electronics.
|
|
|
|
Here is how the finished robot will look like:
|
|
|
|
|
|
## 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
|
|
####Preparing Wemos D1 mini and shields
|
|
|
|
| Description | Image|
|
|
|--------------|---------------|
|
|
| Solder on two rows of 8 male pin headers to the D1 mini |  |
|
|
| Solder on two rows of 8 female pin headers to the motor shield . |  |
|
|
| Also solder a single row of bent pins to the motor shield. Make sure they are soldered on the right way around.| |
|
|
| 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. | |
|
|
| Solder on two rows of 8 female pin headers with long pins to the battery shield |   |
|
|
| Cut off the tips of the long pins such that the battery shield nicely fits into the motor shield |    |
|
|
|
|
#### Connecting battery shield and motor shield for motor power supply
|
|
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:
|
|
|
|
|
|
*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:
|
|
|
|
| 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 | |
|
|
|Solder the first wire to the + pin of the battery shield |  |
|
|
| Solder the second wire to the - pin |  |
|
|
| Cover both wires with small pieces of heat shrink tube |  |
|
|
| Heat the shrink tube with a lighter |  |
|
|
| This is how the battery shield should look like with the two wires |  |
|
|
|
|
- Next, we create a connector for the female JST 2-Pin connector for plugin 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 |  |
|
|
| Solder the first wire to the JST connector | |
|
|
| Solder the second wire to the JST connector |  |
|
|
| Cover both wires with heat shrink |  |
|
|
| Solder the wires to the motor shield, paying attention to the polarity *(make sure it matches the polarity of your batteries!)* |  |
|
|
|
|
- Now, stack the battery shield on top of the motor shield and solder the battery connector:
|
|
|
|
| Description | Image|
|
|
|---|---|
|
|
| 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. | |
|
|
| This is how it should look like in the end. |   |
|
|
|
|
### Next steps
|
|
|
|
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.
|