Robotics Build Guide V2

User Manual:

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Page Count: 11

Control of Mobile Robots

The PiBot

Build Guide

Conner Wulf

Put the Raspberry Pi on

top of the sheet metal. Using

A small pen or screw driver,

carefully mark where to drill

on the metal. Then drill the 4

corners marked on the metal.

Make sure the Pi does not shift

when marking so the Pi will line

up correctly later.

After the template is made, lay it

on top if the chassis. When deciding

where to drill, we suggest you line

them up so that the back of the Pi

is close to the back of the chassis.

Once a spot is chosen, clamp down

the template metal and drill the holes.

Put the rubber stopper in the

hole in the center of the chassis.

Make sure to do this before you

mount the Raspberry Pi or it will

be harder to access.

Take one of the screws and place a small plastic washer

on it. Then thread the screw through one of the Pi’s four

mounting holes. Do this for every hole, making sure there

is a washer between each screw and the Pi.

Take one of the plastic bolts and put them on the other

side screws used on the Pi. Make sure they are snug as it

will help with the stability of the Pi once mounted.

Then add the metal spacers to the screws.

While holding the Pi upside-

down, line the holes you drilled

with the screw on the Pi. Then,

Take the metal bolts and fasten

the Pi to the chassis.

Solder the Servo Hat as shown

to the right. Note the GPIO pin

connector must be on the

bottom while the rest of the

pins are on the top. We used

a breadboard to help keep the

pins straight.

Once soldering is done,

attach the servo hat to

the top of the mounted

Pi using the GPIO pins,

as shown here. If using

the brass standoffs, you

can also add them here

for more stability.

The next soldering step it to

solder the laser sensors. Using

the same method with the

breadboard, solder the seven

contacts to the sensor.

Repeat this for all 3 sensors.

The last soldering

step is to solder the

power boost.

Solder

the USB

contacts to the

chip and then

solder the on/off

switch to the chip

with the middle pin

of the switch

assigned to the

enable input.

The EN pin on the

power boost stands

for Enable.

To attach the front sensor to the PiBot, thread two small

screws through the laser and then add a plastic washer.

Then thread the screws on the laser through the chassis

and bolt it down. Make sure the laser is upside-down as

seen below. Brass standoff may also be used.

To setup the left and right

sensors make sure you have

the parts in the picture to

the left.

-

Fasten the angle and straight

brackets together as shown

in the top picture.

-

Fasten the two brackets

made to the chassis as

shown in the next two pictures.

-

Lastly, fasten a laser sensor

on each side, making sure

the sensors pins are facing the

inside of the robot.

To setup the bracket for

the camera, take two right

angle brackets and fasten

them together on the top

hole of the longer side.

Using one straight bracket,

mount the camera to the Pi

as shown above. Make sure to

put a washer between the

camera and metal.

Then, hook up the camera to

the Pi, as shown on the right.

Take the new bracket and

fasten it to the chassis,

underneath the front

sensor

Insert a servo and encoder

and bolt them down as seen

in the picture above. Thread

the wires through the small

rubber gasket on the chassis.

Finally screw the wheel on

the servo. Repeat for other.

Using washers and a long

metal bracket, mount the

soldered power boost to

the chassis as shown in

the picture.

Fix the LiPo battery to the

bottom of the robot in a

way to make sure it is snug.

We used a zip tie for ours.