forked from Telos4/RoboRally
76 lines
5.1 KiB
Markdown
76 lines
5.1 KiB
Markdown
# Robot assembly
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This file contains assembly instructions for building the robots and soldering the electronics.
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## Components
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The robot consists of the following components:
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* [Adafruit Mini 3-Layer Round Robot Chassis Kit](https://www.adafruit.com/product/3244)
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* [Wemos D1 mini](https://aliexpi.com/41SY)
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* [Wemos D1 mini battery shield](https://aliexpi.com/sNwB)
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* [Wemos D1 mini motor shield (v1.0.0)](https://aliexpi.com/wngF)
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* LiPo battery
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In addition you will need the following tools:
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* A soldering iron
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* Solder wire
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* Heat shrink tube
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* Some wires
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* Battery connectors (female)
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* Velcro tape
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* Self adhesive tape
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* Isolation tape
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* Pin headers
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For the camera based position detection of the robots you will need:
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* A camera
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* A printer
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* Paper
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* Cardboard
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## Assembly instructions
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#### Robot chassis
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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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1. Solder on two rows of 8 male pin headers to the D1 mini
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2. Solder on two rows of 8 female pin headers to the battery 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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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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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:
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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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|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 second wire to the - pin |  |
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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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| 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 pluggin in the battery: | |
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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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| Solder the first 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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| 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 | |
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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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| Now you can stack the D1 mini ontop of the battery shield |  |
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| Now it is time to connect the D1 mini to your computer | |
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|Use a micro USB cable to connect the D1 mini to your computer |  |
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