Robot Build IT Girls Allowed 2014 Updated 14 th August

Check all parts are present Note that there are more parts in the boxes than are actually used (breadboard, light sensitive diodes, etc....) Basic Hardware Pack (white “initio” box) 1 x Ready-built chassis with motors, gearboxes, battery holder, speed sensors 4 x Moulded wheels with "Supergrip" tyres 1 x Top plate (injection-moulded ABS) 1 x Pack of ABS mounting parts 1 x Pack of screws

Additional Components (brown cardboard box) 1 x Arduino UNO 1 x Arduino Sensor Shield 1 x L298N module 1 x Tilt and Pan assembly 1 x Ultrasonic sensor 2 x Infrared Obstacle sensors 2 x Light sensitive line follower sensors 1 x 4 wire Dupont cable (male one end, female the other) 1 x 10 wire cable (female both ends) 1 x USB cable (for connecting PC to robot)

Screws Pack (A)2x for mounting IR obstacle sensors (B)4x for mounting mini Pan/Tilt assembly (C) 4x for use with small 8mm spacers (D) 8x for mounting top plate with long pillars (E) 10x for mounting Arduino and L298N modules (F) 40x for long pillars and offset stand- offs

1. Attach long pillars for top plate Identify the 4 long pillars with the flat ends as shown inset Using the screws (D), fit a pillar into each corner of the main chassis Make sure that the pillars are seated well and screwed in firmly, but not too tight 2. Attach long pillars for Line followers Identify the 2 long pillars without flat ends Using the screws (C), fit these into two holes at the front of the chassis pointing down – i.e. On the opposite side to the 4 pillars attached previously. Make sure that the pillars are screwed in firmly 3. Attach supports for Obstacle Sensors Identify the 2 ABS plastic collar mounts for the Obstacle sensors Using the screws (A) mount collar mounts: at the front of the chassis facing outwards (i.e. Screw slot/guide pointing inwards) in the second hole in from the previously mounted long pillars in the corner on the same side as those pillars (and on the opposite side to the line follower pillars)

4. Fit the L298N Motor Driver Board and Wheels Align the wheels to the shaped axles and press them fully on Use 4 screws (E) to fit the L298N board Connect the left motor Red/Black wires to L1 (Red) and L2 (Black) Connect the right motor Red/Black wires to L3 (Black) and L4 (Red) Push the female end of the 4-way Dupont wire onto the IN1..IN4 terminals (note, Dupont wire colours might be different to the wire shown) Take note of which colour connects to which connector – e.g. IN1 in this diagram is the blue wire. Connect the Red/Black wires from the power supply PCB to VCC (Red) and GND (Black)

5. Install Obstacle and Line follower sensors Install the IR Obstacles sensors For each sensor: Screw one of the provided plastic rings onto the threaded tube of the sensor so that it is ½ a cm or so behind the lens end of the sensor Position the sensor by pushing the lens through the obstacle sensor support previously attached to the chassis so that the lens is pointing outwards Screw the second of the provided plastic rings onto the protruding end of the sensor to secure it on the mounting Install the Line Follower sensors For each sensor: Insert the screw (F) through the more central of the holes in the line follower sensor (so screw thread is sticking out on the side of the sensor opposite the sensor lens) Screw assembly into bottom of previously mounted long pillar Separate off a 3 strand set of female-female dupont cable from the 10 strand set, connect to the pins of the line follower and thread through the long slots in the chassis so they can be routed up to the top of the robot.

6. Assemble Top Plate and fit Arduino Recommendation: before screwing the top plate into place thread the various cables (from the Obstacle sensors, the Line followers and L298 module) through the long slots in the plate – left hand cables through the left slot and right hand (strangely enough) through the right slot. This avoids finicky threading later once the top plate has been fixed. The Arduino is mounted at the Back of the initio Use 4 screws (D) to fit top plate, ensuring the Arduino mounting positions are above the battery holder and ensure the vertical pillars are fitted correctly into the slots on the bottom of the top plate Use 4 screws (E) to fit the Arduino onto the pillars on the top plate. The USB and power connections should be directly above the power PCB Connect power cable from battery pack to Arduino power socket

7. Fit Sensor Shield and Tilt and Pan Assembly Carefully align the pins on the Sensor shield with the associated sockets on the Arduino board and press the shield down until all pins are fully embedded in their sockets. Using the four screws (B) mount the Pan and Tilt assembly on the front of the top panel.

7. Mount Ultrasonic Sensor Attach ultrasonic sensor to the appropriate moulded ABS piece – it’s the one which is a bit like a table, flat on one side with a bracket and 4 “legs” on the other side. I attached it using the cable ties included in the pack, but you can also use elastic bands, double sided tape or whatever else you can think of. The ultrasonic assembly should now simply click fit onto the pan and tilt assembly. 8. Now wire it up The basic assembly is now complete and you can concentrate on wiring up the various components as described on the following pages. And when you finish your robot it should look something like this

Final Wiring Notes Motors and Motor Drivers Ultrasonic Sensor Line Followers Tilt and Pan Servos IR Obstacle Sensors Wheel Sensors – Not Used Note this last point – when the robot has been completely wired up you will still have several wires which will not have been connected to anything. THIS IS NORMAL. They are the wires for the wheel sensors.

Motors Driver Board to Arduino IN1 IN2 IN3 IN4 P6 P5 P12 P8 P12 P8 P6 P5

UltraSonic Sensor Sensor ShieldUltrasonic Sensor Pin 15 V ( AREF)VCC Pin 15 G (AREF)GND A1Trig ( Trigger ) A0Echo (Echo, Echo, Echo)

UltraSonic Sensor

Line Followers Sensor ShieldLine Follower Sensor Pin 14 V ( GND)Left VCC Pin 14 G (GND)Left GND Pin 13 VRight VCC Pin 13 GRight GND A4Left Out A5Right Out

Line Followers LEFT GVSGVS THE SENSOR SHOWN IS POINTING DOWN

Line Followers RIGHT GVSGVS THE SENSOR SHOWN IS POINTING DOWN

Tilt and Pan Use sensor shield pins 10 and Tilt ( Up and Down action ) 11 Pan Servo ( left to right action) Sensor ShieldServo 10Tilt 11Pan

Tilt and Pan Just remember for servo – Yellow goes to sensor pin

Obstacle Sensors Use sensor shield pins 2 and 3 (Right and Left) Note no distance – only a switch The distance at which it switches can be adjusted by a screw on the back of the sensor Sensor ShieldIR Obstacle Sensor 3Left 2Right

Obstacle Sensor Just remember for sensor– Yellow goes to sensor pin

And That Should be That! You should now have a working robot You can now move on to developing the software for your new pet Questions or problems please contact: Neil Allgood, Dave Ellington or Kuldeep Judge