Building Jousting Robots

Combining a young boy's two favorite things, Knights and Robots, we've created Jousting Robots.

But don't think these 2 robots are just running into each other, there is some impressive tech behind each one. There are two sensors that measure the metrics of each collision, motor/gearboxes that drive the robot, and most importantly, a chipKIT WF32, which controls everything and sends metrics back to the computer.

It is important to note that this is just building one robot, not two.

You will need the following items:

Hardware:

• chipKIT WF32
• 2 Continuous Servo Motors
• PmodJSTK
• PmodACL

• Parts from the chipKIT Parts Kit

Baseplate parts:

• Baseplate
  
  • 3D Alternative
• Drag Button
• Servo Wheels
• Tiny Servo Mount
• zUNO Clips
• Pmod Clips

Lance and Shield Items:

• Shield and Shield Mount
• Lance Mount and Lance Holder

Software:

You'll need the LabView Home Bundle to program the WF32 (programming will be done in a later Instructable).

Misc:

• Assorted Nuts and Bolts (I recommend this size for the bolts)
• 2 9 Volt Battery Connector
• 2 9 Volt Batteries
• Screwdriver
• Velcro
• Small Bread-boards
• Paper (for Lance)

This Instructable will be about the assembling the Robot (except the wires). There will be following Instructables on the wiring and the software.

The first thing we need to do is attach the Servo Brackets to the baseplate. You can check out the first picture to see where you want to attach the Servo Brackets

Now we want to attach the Drag Button to the baseplate. On the bottom-side of the baseplate their will be 2 raised areas for the drag button, check out the first picture for the location.

I recommend using washers for this part, but it's not required.

Now we want to attach the Servo Motors to the baseplate. There's a lot of pictures in this step, but it's not too difficult.

1. First thing we want to do is to make sure both of the motor axels are aligned towards the "front" of the base plate.
2. Next put the Servo motors inside the brackets.
3. It is easiest to attach the Servo with the screw closest to the baseplate first, then attach the top two.
4. Repeat this for the other side, so both Servos are attached.

Next we want to attach the Wheels to the Servo Motors. You should have a small black-screw, use this to secure the wheel to the Servo.

The zUNO clips are what we're going to use to attach the WF32 to the baseplate.

1. Find the two rows of hole between the screws connecting the Servo Brackets to the Baseplate.
2. On the row closest to the Drag Button, attach the zUNO clips based off the location of the green arrows.
3. Be sure to orient the zUNO "pointing" upwards.

Next is attaching the Pmod Clip to the baseplate. Check out the first picture to see where the Clip should attached.

Next we want to attach the Mini Servo Mount. The Mini Servo Mount is attached on the top-side of the baseplate, directly in front of the on the right zUNO clip. We'll only attach the Mini Servo Mount in 3 corners. Check out the first picture to where the Mini Servo Mount should go.

Attach the Lance Mount to the servo bracket through your method of choice. (I used GorillaGlue)

Be sure that you can remove the lance mount from the Mini Servo Motor, this will allow you to make sure everything is aligned.

Next we want to attach the Shield Mount to the baseplate.

First find the two columns that have the zUNO Clip attached and the Servo Bracket attachment mount.

On the most "forward" row, attach the Shield Mount by using the two bottom holes.

Using double sided tape, attach the shield, with the rectangular hole in the shield being aligned with the hole in shield mount.

Next, get the Force Sensor, the black side of the circle it is sticky underneath a protective film.

This sticky side is used to secure the Force Sensor to the shield. Before you secure the the Force Sensor to the shield, move the connector through the rectangular holes.

Now peel off the protective film of the sticky side and secure it on the small circle on front of the shield.

Next we are going to attach the standoffs for the PmodJSTK.

Check out the first picture to see the locations where the standoffs should go.

Next we are going to attach the PmodJSTk to the baseplate. Using the standoffs attached to the baseplate, attach the Pmod with the pin connectors facing "downwards".

Next, clip the WF32 onto the baseplate by using the zUNO Clips. Orient the WF32 so that the MicroSD Card Slot and power connector are next the the Mini Servo.

Find a small breadboard (about 10x30). Attach it to the top of the baseplate to the left of the PmodJSTK.

Next we are going to attach the PmodACL to the bottom of the robot.

Flip the robot so the bottom-side is facing up.

Snap the PmodACL into the Pmod clip with the pin-connectors facing towards drag button.

The 9 Volt battery cases we had were a snug fit, so it was easiest for us to plug in the batteries before we attach the cases.

Important: Make sure that the terminals will not contact each other. This is very bad

Using something as simple as electrical tape will ensure that they don't touch.

There is a great spot in between the Servo Brackets and the Drag Button where you can fit two 9 volt batteries. Secure them using your preferred method. (I used Velcro)

Now we want to attach the Lance Mount to the Servo connector. This is where our lance will go.

We used a 1/2 inch dowel cut to about 8 inches.

(Note the first lance mount is the one seen, it will be updated soon)

At this point you'll want your jousting robot to look like the two pictures above!

There's a lot of important stuff to building this robot, so next we'll go over setting up the code!

Check it out here!

Also check out the wiring of the Jousting Robots here!