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<!DOCTYPE html>
<html lang="en" >
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<meta charset="UTF-8">
<title>CCGS Robotics</title>
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<a href="index.html" class="logo">CCGS Robotics</a>
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<a class="logosub" href="https://www.thingiverse.com/groups/ccgs-robotics/things">Designs</a>
<a href="https://groups.google.com/forum/#!topic/oarkit/6ngI1czbHFA" class="logosub">OARKit</a>
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<h2>How To Build Our Robot</h2>
<h3>Tips and tricks from our experiences</h3>
<p class="normal">
So, you’re here to learn how to build the CCGS Flipper Bot, you’re in the perfect place. This guide assumes that you have a general understanding of robotics. For help, we recommend checking out: <a class="LinkNorm" download href="RoboWars Manual.pdf">our manual for our simpler robot</a>, the <a class="LinkNorm" download href="TDP 2019 Final.pdf"> Team Description Materials Document</a>, asking us / the forums and Google as always, being your friend. </p>
<h3>Below you will find:</h3>
<ul>
<li>TDM</li>
<li>Where you can find information</li>
<li>General instructions on</li>
<ul>
<li>Building</li>
<li>Wiring</li>
<li>Coding</li>
<li>Other Tips</li>
</ul>
</ul>
<h3>TDM</h3>
<p class="normal">
The TDM is the go to for detailed information and we can't recommend it as a resource enough. You can download it <a class="LinkNorm" download href="TDP 2019 Final.pdf">here</a></p>
<h3>Where you can find information</h3>
<ul>
<li><a class="LinkNorm" href="https://groups.google.com/forum/#!topic/oarkit/6ngI1czbHFA">OarKit Blog</a></li>
<li><a class="LinkNorm" href="https://github.com/CCGSRobotics">GitHub</a></li>
<li><a class="LinkNorm" href="https://www.thingiverse.com/groups/ccgs-robotics/things">Thingiverse</a></li>
</ul>
<h3>How to build the robot</h3>
<p class="normal">
We've made a lot of changes since the EmuBot first started off, below is documentation on how to build our robot and challenges we've overcome.</p>
<h4>Sam's video</h4>
<p class="normal">
One of our members, Sam, has created the video below, how to build the robot from scratch. You can download everything from thingiverse. <a class="LinkNorm" href="HTTPS://INSERT VIDEO BELOPW.COM">in side the wepage below</a></p>
<h4>Choice's we've made</h4>
<h5>Servos</h5>
<p class="normal">
We've got 4 servos on our robot:
</p>
<ul>
<li><a class="LinkNorm" href="http://www.robotis.us/dynamixel-mx-28t/">MX-28</a></li>
<li><a class="LinkNorm" href="http://www.robotis.us/dynamixel-ax-18a/">AX-18a</a></li>
<li><a class="LinkNorm" href="http://www.robotis.us/ax-12a/">AX-12a</a></li>
<li>Misc small servos for grabber</li>
</ul>
<p class="normal">
The reason behind this is that we were breaking too many AX-12a's in Montreal. The 18a and the MX-28 have increased torque and speed which makes a dramatic difference in their life time on the flippers that we use.
</p>
<h5>How to fix broken servos</h5>
<p class="normal">
A big difference between the AX-12a and the AX-18a is that the 18a has 1 metal gear where the 12a is plastic. This specifc gear breaks after extensive use and we have created a document that steps through how to fix it <a class="LinkNorm" download href="how to fix AX-12a+ servos.docx">here</a>.
</p>
<h4>LiPo Batteries</h4>
<p class="normal">
The reason why we use LiPo batteries is becuase they are the best power to weight ratio however don't forget your fire proof bags becuase, yes, they are bombs if misshandled.
</p>
<h4>Thing's we've tried</h4>
<p class="normal">
To tackle the problem of computer vision as well as having multiple camera streams, we have tried USB cameras and other camera accessories... no success yet.
</p>
<h3>Wiring</h3>
<p class="normal">
This a problem with a lot of different, equally valid solutions, ours is one of them. INSERT IMAGE BELOW
</p>
<h4>Thing's we've improved</h4>
<ul>
<li>2ax (no longer sold) instead using the Robotis OpenCM</li>
<li>12v into 5.1 for Raspberry Pi using a voltage regulator chip</li>
<li>Circuit board instead of wired</li>
<li>Make sure to have a switch for your servos</li>
<li>relay module that allows for the computer to reset servos</li>
</ul>
<h3>Coding</h3>
<p class="normal">
This is like the personality of your robot, the heart and soul. Check out our <a class="LinkNorm" href="https://github.com/CCGSRobotics">GitHub</a> for ours and follow read me. Below are some helpful hints that may be of benefit to you.
</p>
<ul>
<li>Google your errors</li>
<li>Network protocols - TCP is good but UDP is faster and all you really need</li>
<li>Make sure the code is well written – it's better to spend time writing comments and documentation than new features – not fun but ensures sustainability between members </li>
<li><b>Use github!!</b></li>
<li>Use python</li>
<li>Set up your Raspberry Pi correctly as an access point - r pi set up script can be found on Github</li>
<li>Read documentation</li>
</ul>
<h4>What we want for the future</h4>
<p class="normal">
The dream is for a Navida Jetson to allow us to process computer vision on the robot itself.
</p>
<h3>Other Tips</h3>
<p class="normal">
Resources permitted, have a second robot working at all times to allow for teams to work together on different problems.
</p>
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