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First K9 Bot Build Manual

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Summary of Contents for First K9 Bot

  • Page 2 It was originally used for testing and training in the early phases of the new platform rollout. While the K9 bot is a convenient mechanism for teaching how to use the new platform, it is NOT a competition-ready bot.
  • Page 3 Competition-Ready PushBot A   P ushBot   B uild   G uide   i s   a vailable   o n   t he   F TC   T eam   R esources   w eb   p age.  ...
  • Page 4 1x   1x   A@ach   o ne   L EGO®   h ard   p oint   c onnector   t o   t he   1 66   m m   C   channel.    ...
  • Page 5 1x   2x   Connect   t he   L EGO®   9   h ole   s traight   b eam   t o   t he   h ard   p oint   c onnecter   w ith   the  ...
  • Page 6 1x   Bolt   t he   s ervo   m ount   t o   t he   1 66   m m   C   channel.  ...
  • Page 7 Assemble   t he   b aring   p ackage   b y   c onnecJng   i t   to   t he   s ervo   m ount.   1x  ...
  • Page 8 1x   Bolt   a   s ervo   o n   t o   t he   servo   m ount.  ...
  • Page 9 2x   A@ach   t wo   2 88mm   C   c hannels   to   t he   1 66mm   C   c hannel.    ...
  • Page 10 A   s econd   1 66mm   C   c hannel   i s   added   t o   t he   1x   288mm   C   channels.    ...
  • Page 11 The   m otor   m ounts   are   c onnected   t o   the   b o@om   o f   t he   288mm   C   c hannels.     2x  ...
  • Page 12 1x   Bolt   t he   1 44mm   L   b racket   t o   t he   244mm   C   c hannels   i n   f ront   o f   t he   motor  ...
  • Page 13 A@ach   t he   t wo   3 2mm   C   c hannels   to   t he   t wo   2 44mm   C   c hannels   o n   the   o pposite   s ide   a s   t he   m otor   mounts.  ...
  • Page 14 A@ach   a   1 66mm   C   c hannel   to   t he   t wo   2 88mm   C   channels.     1x  ...
  • Page 15 1x   A@ach   a nother   1 66mm   C   channel   t o   t he   2 88mm   C   channels.    ...
  • Page 16 1x     2x   Use   t he   t wo   r ounded   L   b rackets   w hen     a@aching   t he   p late   t o   t he   1 66mm   C   channels.  ...
  • Page 17 Repeat   l ast   s tep   t o   t he   o ther   s ide   o f   t he   robot.   1x   2x  ...
  • Page 18 Tighten   a   m otor   i nto   m otor   m ount   s o   t hat   t he   m otor   s haQ   is   t owards   t he   t op   o f   t he   r obot.   ( Robot   i s   u pside   d own   i n   pictures.)  ...
  • Page 19 1x   A@ach   t he   m otor   c able   and   s ecure   i t   w ith   a   z ip   Je.  ...
  • Page 20 Repeat   t he   l ast   t wo   s teps   t o   t he   o ther   side   o f   t he   r obot.   1x   1x  ...
  • Page 21 OPTIONAL:   2x     Read   d irecJons   w ith   encoders   i f   y ou   w ould   like   t o   i nstall   e ncoders   onto   y our   r obot.    ...
  • Page 22 Mount   t he   s ervo   horn   t o   t he   p ivot   bracket.     1x   1x  ...
  • Page 23 1x   Use   f our   o f   t he   s horter   T etrix®   s crews   t o   a @ach   t he   t ube   c lamp   to   t he   t op   o f   t he   p ivot   b racket.  ...
  • Page 24 Insert   t he   8 8mm   t ube   into   t he   t ube   c lamp   and   s ecure   i t   u sing   a   bolt.     1x  ...
  • Page 25 A@ach   t he   s ervo   m ount   t o   the   t ube   c lamp   w ith   t he   rounded   L   b racket   between   t hem.     1x  ...
  • Page 26 Insert   t he   88mm   tube   i nto   the   o ther   tube   clamp   a nd   secure   i t   with   a   bolt.  ...
  • Page 27 1x   Assemble   t he   b earing   p ackage   b y   connecJng   i t   t o   t he   s ervo   m ount.  ...
  • Page 28 A@ach   t he   s ervo   t o   t he   s ervo   m ount.   1x  ...
  • Page 29 Mount   t he   s ervo   horn   t o   t he   p ivot   bracket.     1x   1x  ...
  • Page 30 A@ach   t he   s ervo   h orn   onto   t he   s ervo   c rown.   Make   s ure   t he   p ivot   bracket   c an   m ove   smoothly  ...
  • Page 31 A@ach   t he   fl at   b racket   t o   t he   pivot   b racket.     1x  ...
  • Page 32 Mount   a   p ivot   b racket   t o   t he   rounded   L   b racket.     1x  ...
  • Page 33 2x   Connect   t wo   r ounded   L   b rackets   t o   the   p ivot   b racket   t o   c omplete   t he   gripper.    ...
  • Page 34 A@ach   a   r ounded   L   b racket   t o   t he   166mm   C   c hannel   n ext   t o   t he   servo.   T his   i s   o nly   u sed   a s   a   mechanical  ...
  • Page 35 A@ach   t he   s ervo   h orn   onto   t he   s ervo   c rown.   Make   s ure   t he   p ivot   bracket   c an   m ove   smoothly  ...
  • Page 36 Use   t he   s et   s crews   t o   lock   t he   m otor   h ubs   onto   t he   l eQ   a nd   right   m otor   s haQs.   2x  ...
  • Page 37 Use   z ip   J es   t o   s ecure   the   b a@ery   t o   t he   144mm   L   b racket.   1x  ...
  • Page 38 Use   t he   L EGO®   3 X5   b eam   t o   mount   t he   L EGO®   l ight   sensor.   U se   t he   c onnecter   pegs   t o   l ock   t he   t wo   3 X5   beams  ...
  • Page 39 Mount   t he   M odern   RoboJcs   U SB   s ervo   controller     t o   t he   l eQ   side   o f   t he   r obot.  ...
  • Page 40 Mount   t he   M odern   RoboJcs   U SB   motor   c ontroller     to   t he   r ight   h and   side   o f   t he   r obot.    ...
  • Page 41 4x   Crimp   o n   t wo   A nderson   P owerpole®   connecters,   o f   t he   c orresponding   c olors,   t o   the   e nds   o f   t he   m otor   c ables.   T hen   a @ach   them  ...
  • Page 42 Plug   t he   s ervo   c ables   i nto   t he   M odern   R oboJcs   s ervo   c ontroller.   T he   bo@om   s ervo   t hat   c ontrols   t he   a rm   s hould   g o   i nto   c hannel   o ne.   T he   top  ...
  • Page 43 Bolt   t he   r ear   w heels   o nto   t he   motor   h ubs.   4   i nch   w heels   are   b est   i f   y ou   h ave   t hem   b ut   3  ...
  • Page 44 Build   t he   a xle   a ssembly   f or   b oth   a xles.   B uild   t hem   through   t he   3 2mm   C   c hannels   u sing   o ne   a xel,   t wo   bushings,  ...
  • Page 45 2x   A@ach   t he   t wo   o mni   w heels   t o   t he   a xle   hubs   f rom   t he   l ast   s tep.   U se   t he   s ame   size  ...
  • Page 46 A@ach   t he   M odern   R oboJcs   C ore   P ower   D istribuJon   M odule   (power   m odule)   t o   t he   p lates   o n   t he   b ack   o f   y our   r obot.   N ot   a ll   of  ...
  • Page 47 1x   2x   Using   t he   p an   h ead   s crews,   a @ach   t he   144   m m   L   b eam   t o   t he   t wo   r ounded   L   brackets.  ...
  • Page 48 1x   Bolt   a   s econd   144mm   L   beam   o n   t op   of   t he   o ther   L   beam.   T his   w ill   create  ...
  • Page 49 8x   Make   t wo   c ables   u sing   1 6   AWG   w ire   a nd   A nderson   Powerpole®   c onnectors.   T he   cables   w ill   s upply   p ower   t o   the  ...
  • Page 50 A@ach   a   r ounded   L   bracket   t o   t he   2 44mm   C   channel   o n   t he   f ront,   r ight   hand   s ide   o f   t he   r obot.   This  ...
  • Page 51 Bolt   t wo   s tand   o ffs   t o   t he   rounded   L   b racket.   I   u sed   o ne   inch   s tandoffs   b ut   t wo   i nch   standoffs  ...
  • Page 52 A@ach   t he   L EGO®   I R   s eeker   t o   1x   the   t wo   s tand   o ffs.    ...
  • Page 53 A@ach   t he   M odern   R oboJcs   L egacy   m odule   t o   the   t wo   r ounded   L   b rackets.   T he   L egacy   module  ...
  • Page 54 Use   t he   N XT   style   c ables   t o   connect   t he   t wo   sensors.   T he   I R   seeker   s hould   b e   in  ...
  • Page 55 Use   t hree   U SB   c ables   t o   c onnect   t he   power   m odule   t o   t he   L egacy   m odule,   the   m otor   c ontroller,   a nd   t he   s ervo   controller.  ...
  • Page 56 Secure   t he   robot   controller   t o   the   t wo   144mm   L   brackets.   I   used   h ook   a nd   loop.    ...
  • Page 57 Run   t he   m ini   U SB   t o   micro   U SB   O TG   c able   from   t he   p ower   module   t o   t he   r obot   controller.  ...
  • Page 58 Use   z ip   J es   t o   s train   r elief   y our   wires   a nd   c ables.   A lso   m ake   s ure   all   o f   t he   w ires   a nd   c ables   a re   o ut   of  ...
  • Page 59 Launch   t he   a pps   o n   b oth   t he   r obot   c ontroller   a nd   t he   d river   s taJon.   While   t he   r obot   c ontroller   i s   c onnected   t o   t he   m icro   U SB   c able,   p ress   the  ...
  • Page 60 Press   t he   s ervo   c ontroller   b u@on.   L abel   t he   t wo   s ervos   in   p orts   o ne   a nd   s ix.   “ servo_1”   a nd   “ servo_6”   T hese   names  ...
  • Page 61 Next,   s elect   t he   m otor   c ontroller   b o@on.   L abel   t he   p orts   “ motor_1”   and   “ motor_2”   T hese   a lso   n eed   t o   b e   e xact.   T hen   p ress   d one.    ...
  • Page 62 To   c onfigure   t he   L egacy   m odule,   c hose   I R_SEEKER   f or   p ort   2   a nd   L IGHT_SENSOR   f or   port   3 .   C all   t hem   “ ir_seeker”   a nd   “ light_sensor”   T hese   n ames   a lso   n eed   t o   b e   e xact.    ...
  • Page 63 Press   s ave   c onfiguraJon.   E nter   y our   fi le   n ame.   T his   does   n ot   n eed   t o   b e   a nything   s pecific.   I   u sed   “ k9bot.”    ...
  • Page 64 On   t he   d river   s taJon,   p ress   t he   t hree   d ots.   T hen   s elect   sefng.   T hen   s elect   p air   w ith   r obot   c ontroller.   N ext   choose  ...
  • Page 65 Plug   y our   g ame   p ad   i nto   t he   d river   s taJon   u sing   t he   O TG   a dapter.   Press   t he   S tart   b u@on   a nd   t he   A   b u@on   a t   t he   s ame   J me   t o   s elect   controller  ...
  • Page 66 On   t he   d river   s taJon,   p ress   s elect.   N ext   c hoose   K 9TeleOp.   T his   w ill   bring   y ou   b ack   t o   t he   m ain   d river   s taJon   s creen.   P ress   s tart   a nd   your  ...
  • Page 67 To   s et   t he   c orrect   s ervo   p osiJons,   r emove   t he   t wo   servo   h orns   f rom   t he   s ervo   c rowns.   U se   t he   j oysJck   t o   move  ...
  • Page 68 To   r un   d ifferent   p rogram,   p ress   s elect   o n   t he   d river   s taJon.   N ext   choose   y our   o p   m ode.   T his   w ill   b ring   y ou   b ack   t o   t he   m ain   d river   staJon  ...
  • Page 69 4x   3x   2x   2x   2x   3x   1x   1x   2x   2x   2x   2x  ...
  • Page 70 2x   2x   2x   2x   2x   1x   2x   2x   2x   1x   2x   8x  ...
  • Page 71 2x   3x   4x   12x   2x   6x   2x   1x   1x   1x   2x  ...
  • Page 72 1x   1x   1x   1x     2x   1x   1x  ...
  • Page 73 Bill   o f   M aterials   f or   K 9   B ot   item   pieces   n eeded   pieces   p er   p ack   packs   n eeded   vendor   part   n umber   4  ...