So, I’m really sleepy right now. I didn’t sleep that well and then I spend all day working on my new robot. And then instead of keeping my head down, I decided to write this.
I started with the metalwork for the front and rear bump sensors. That involved cutting short lengths of u-channel and then drilling and tapping holes . I also added another LED to each of the bumper PCBs, which is what the original Spot X has.
Next I soldered up the sonar sensor deck. I don’t have a compatible sonar sensor but at least that job is done for when I get one.
I needed to drill some new holes in the frame to allow for cable routing. The cables leading from the bump sensors now run in the space between the sheets of acrylic that make up the robot’s motor mechanism, then into the lower deck cavity through the new holes. That allows them to neatly plug into the sensor breakout board without having to squeeze past the main board.
I also cut a sheet of plastic for the under deck. I considered repurposing a sheet from a different robot that is in pieces but instead settled on cutting some out of one of the sheets I got from the TVs I picked up during bulk rubbish collection. I was worried that it would be polycarbonate, since that stuff is tricky to work with but it turned out to be acrylic.
Strangely enough, the sheet is all buckled, possibly as a result of heat from ??? being a TV ??? I don’t know. Anyway I managed to cut a sheet the right size and began mounting PCBs to it. Of course I drilled the holes too big, meaning I now have to fuss about with mounting hardware. I used hex spacers but they are too tall (or not tall enough). At any rate the position of the main PCB doesn’t work as is because the bump sensors are in the way of the USB connector so I’m going to have to change the position of the bump sensors and the main board.
What else? I decided that I won’t use ribbon cable for the cable between the sensor breakout board and the bump sensor input lines on the main board. Instead, I’ll solder up a collection of individual wires to the header plugs and cable tie them together in a bundle. That will make routing the cable easier. I also have to make up a new motor control cable because the one I have is a little short.
I haven’t yet finished the bump sensors. I have a piece of foam I can use but haven’t decided whether I’ll use timber for the actual bumpers or cut up some strips of acrylic. I’m leaning towards acrylic.
Still not sure about what I’ll do for a Pico. I looked at desoldering the one in Spot X, but I’d need to clear out all the solder before trying to fit it to the new robot. I think I’ll wait until I’ve got some new ones.