Mini Robot Chassis Top View Use the extra hex standoff screw pillars as shown here.

Mini Robot Chassis Front View Use the extra hex standoff screw pillars as shown here.

Mini Robot Chassis Rear View

Mini Robot Chassis Top View Portable USB High Capacity Power Bank; at least 2000mAh

Mini Robot Chassis Top View Battery Pack; connect female to female jumpers

Mini Robot Chassis Top View Use a plastic container to cover the battery pack. Add double-sided tape to connect the Raspberry Pi.

Connections to the RaspiRobot HAT The Raspberry Pi needs to be turned off before you connect the RaspiRobot HAT. Connect the HAT so that it sits over this block of pins:

RaspiRobot HAT Left to right on the RaspiRobot Board Sonar - Plug in the UltraSonic Sensor 5V T E G VCC Trig Echo GND Screw Connectors Unscrew the screws, the pin should be inserted above the plate. Screw down the plate, OC1+, OC1-, OC2+, OC2-, L-, L+, R-, R+, GND, +V Not used, Not used, Not used, Not used, Black Lead Left Motor (male to male jumper), Red Lead Left Motor (male to male jumper), Black Lead Right Motor (male to male jumper), Red Lead Right Motor (male to male jumper), Black Lead Battery Pack (male to female jumper), Red Lead Battery Pack (male to female jumper).

RaspiRobot HAT Image from https://www.monkmakes.com/rrb3/

Connections to the RaspiRobot HAT Use male to male jumper wires

Mini Robot Chassis Top View Raspberry Pi is located on top and connected. Additional duct tape was used to secure the components. You can run the Raspberry Pi, the RaspiRobot HAT, and a robot from 6 AA batteries without the Power Bank. If you have a Power Bank or are connecting to the adapter, plug in the main power supply before connecting the GND from the AA battery pack.

RaspiRobot HAT The code is from Simon Monk, the developer of the RaspiRobot HAT. The MIT License (MIT) Copyright (c) 2015 Simon Monk Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

RaspiRobot HAT mkdir RobotFiles Save the rrb3.py file and the other robot-based programs into the RobotFiles folder.

RaspiRobot HAT The main function which is called by the functions in the rrb3 module. See http://www.pythonwithraspberrypi.com/raspirobotrrb3nodule.html: from rrb3 import * from time import sleep BATTERY_VOLTS = 7.8 MOTOR_VOLTS = 4 rr = RRB3(BATTERY_VOLTS, MOTOR_VOLTS) # create a RRB3 object

RaspiRobot HAT set_motors(self, left_pwm, left_dir, right_pwm, right_dir) rr.forward(length_of_time_to_run, motor_speed) calls self.set_motors(speed, 0, speed, 0) The motor_speed controls the Pulse Width Modulations value. Pulse Width Modulations allows analog output to be simulated. The frequency of the square wave is specified as well as a duty cycle that is measured in percentages. The percentage indicates the percentage of time a digital signal is on over an interval or period of time.

RaspiRobot HAT rr.right(length_of_time_to_run, motor_speed) calls self.set_motors(speed, 1, speed, 0) rr.left(length_of_time_to_run, motor_speed) calls self.set_motors(speed, 0, speed, 1) rr.reverse(length_of_time_to_run, motor_speed) calls self.set_motors(speed, 1, speed, 1) rr.cleanup() Clean up when completed.

Headless Operation Connecting to a Pi that is not connected to a monitor, keyboard, or mouse. Menu -> Raspberry Pi Configuration Change your password from raspberry! Interfaces -> Enable ssh Reboot Connect to your wireless access point sudo cp /etc/wpa_supplicant/wpa_supplicant.conf /etc/wpa_supplicant/wpa_supplicant.conf.backup Check the /etc/wpa_supplicant/wpa_supplicant.conf file. This will have your association information. The last network is the default network with which you will be associated when you connect in headless operation.

Headless Operation Install putty on Windows or use Linux. ssh pi@your_ip_address Create a DHCP reservation on your wireless device for your Raspberry Pi, so that it will receive the same IP address based upon the HWAddr (MAC address) for wlan0. You may need to clear out any configuration in this file: sudo nano /etc/dhcpcd.conf