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fixed some formatting problems

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Simon Pirkelmann 2019-07-31 15:39:57 +02:00
parent 1827b740e0
commit 2a095959a9
3 changed files with 11 additions and 2 deletions
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1
docs/1_ASSEMBLY.md
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@ -54,6 +54,7 @@ Assemble the chassis according to the instructions provided by adafruit ([see he
#### 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:
![Motor shield and battery shield sketch](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:

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docs/2_MOTOR_SHIELD_FIX.md
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@ -1,6 +1,5 @@
# Motor shield fix
### Get motor shield firmware
The Wemos motor shield comes with a buggy firmware which has problems with the I2C communication ([see here]([buggy firmware](https://hackaday.io/project/18439-motor-shield-reprogramming))).
Luckily, some guys figured out how to update the firmware of the STM32 on the motor shield with a custom one that fixes these issues.

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docs/3_ROBOT_SETUP.md
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@ -16,7 +16,8 @@ $ esptool.py --port /dev/ttyUSB0 --baud 460800 write_flash --flash_size=detect 0
```
### Communicating with the D1 mini
After flashing the firmware we can access the python prompt on the microcontroller using a serial communication program such as picocom
After flashing the firmware we can access the python prompt on the microcontroller using a serial communication program such as picocom.
On Ubuntu you can install this with
```
$ sudo apt-get install picocom
@ -52,8 +53,11 @@ First we enable WebREPL on the microcontroller which allows us to easily upload
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):
Enter IP from above and click connect. Login with the password you set for the WebREPL.
![WebREPL connection](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/webrepl0.jpg)
![WebREPL login](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/webrepl1.jpg)
![WebREPL prompt](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/webrepl2.jpg)
### Making settings permanent
@ -71,8 +75,10 @@ dns = '192.168.1.1'
# TODO end edit
```
- Upload boot.py via WebREPL
![WebREPL file upload](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/webrepl3.jpg)
- Now the robot will automatically connect to WiFi network you set and start a WebREPL server after reboot.
*Note: If the WiFi network cannot be found the microcontroller will instead open an access point.*
### Upload robot firmware
@ -118,13 +124,16 @@ Have a look at the `keyboard_controller.py` script to see how this works in pyth
### Isolating the electronics
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:
![Isolation tape](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/isolation_tape_2.JPG)
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.
![Velcro tape electronics and battery](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/velcro_tape_2.jpeg)
![Velcro tape robot](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/velcro_tape_3.jpeg)
### Charging the battery
In order to charge the battery of the robot just plug a micro USB cable into the USB port of the battery shield.
![Battery charging](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/charging.jpeg)
### Next steps