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SQUAREBOT 4.0 BUILDING INSTRUCTIONS

SQUAREBOT 4.0 BUILDING INSTRUCTIONS

USING THE VEX CORTEX

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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SQUAREBOT 4.0 BUILDING INSTRUCTIONS

1 Collect parts and tools from the lists below:
Materials Screw, 8-32 x 1/4 Long Screw, 8-32 x 1/2 Long ** Screw, 8-32 x 3/8 Long Screw, 8-32 x 3/4 Long Motor Screw, Long [1/2] Nut, 8-32 Keps** Shaft, 4 long* Shaft, 3 long Shaft, 2 long Shaft Collar Shaft Spacer Thin (4.6mm) Shaft Spacer Thick (8mm) Bearing, Flat Bearing Pop Rivets Standoff, 3 Long Standoff, 2 Long Standoff, 1 Long Gear, 60 tooth Gear, 36 tooth Gear, 12 tooth Chassis Rail, 16 hole Chassis Bumper, 15 hole C-Channel, 1x2x1x15 hole C-Channel, 1x2x1x25 hole Plate, 5 x 15 hole Small Low Friction VEX Wheel VEX Cortex Microcontroller* LCD Display* VEX Motor w/ Clutch Optical Shaft Encoder* Ultrasonic Rangefinder* Potentiometer* Bumper Sensor* Limit Switch* Analog Accelerometer* Light Sensor* Backup Battery Holder* 1
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Quantity 31 16 15 1 4 49 2 4 2 20 12 1 16 20 4 2 2 4 4 2 4 2 2 1 1 4 1 1 3 2 1 1 1 1 1

Tools

Quantity 4 1 2 1 1 1 1 1

Zip Tie, 4 Long Battery Strap* Rubber Bands Allen Wrench 3/32 Allen Wrench 5/64 Open End Wrench 1/4 Pliers* Hacksaw*

* Not included in Protobot Robot Kit ** Total includes parts from the Sensor Kits The Protobot Robot Kit contains only one

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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SQUAREBOT 4.0 BUILDING INSTRUCTIONS

2 Modifications
CAUTION - Bending VEX Metal
The following step involves permanent alterations to the materials in the VEX Kit. Make sure you have permission before continuing. ALL APPLICABLE SAFETY PROCEDURES MUST BE OBSERVED WHILE PERFORMING THIS STEP . IF YOU ARE UNSURE ABOUT HOW TO USE THE TOOLS OR PERFORM THIS PROCEDURE SAFELY, DO NOT ATTEMPT THIS STEP ALONE. SEEK QUALIFIED ASSISTANCE BEFORE PROCEEDING.

x1

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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2 Modifications (continued)
CAUTION - Cutting Tools
The following step involves cutting tools and permanent alterations to the materials in the VEX Kit. Make sure you have permission before continuing. ALL APPLICABLE SAFETY PROCEDURES MUST BE OBSERVED WHILE PERFORMING THIS STEP . IF YOU ARE UNSURE ABOUT HOW TO USE THE TOOLS OR PERFORM THIS PROCEDURE SAFELY, DO NOT ATTEMPT THIS STEP ALONE. SEEK QUALIFIED ASSISTANCE BEFORE PROCEEDING.

x1

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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3 Base Frame Construction
1/2 6-32 x2 x2 x6 x4 x8

Building Tip - Using Pop Rivets

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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4 Drivetrain Construction
4 x2 x4 x2 3 x2 2 x2 x12

Building Tip - Using Shaft Collars

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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4 Drivetrain Construction (continued)

x2

x6

x12

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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4 Drivetrain Construction (continued)
1/2 x2 x2 x2 x4 1/4 x16 x20

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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4 Drivetrain Construction (continued)

x4

x4

x4

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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4 Drivetrain Construction (continued)
3/8 x2 x1 x4 x4

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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4 Drivetrain Construction (continued)

x2

x1

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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5 Arm Mount Construction
3 x1 x1 x2 1/4 x2

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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5 Arm Mount Construction (continued)
1/2 x1 x1 x1 x1 x4 1/4 x4 x8

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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5 Arm Mount Construction (continued)
3 x1 x1 x1 x1 x2 3/8 x5 1/4 x2 x5

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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5 Arm Mount Construction (continued)
1/2 x1 x1 x2 1/2 6-32 x2 x2

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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6 Arm Assembly
1/2 x2 x1 x1 x6 x6 x4

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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6 Arm Assembly (continued)

1/4 x2 x4 x4

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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6 Arm Assembly (continued)
2 x2 x1 3 x2 x4 x1 x2 3/4 x1 1/4 x1

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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6 Arm Assembly (continued)

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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7 Attaching the Arm
3/8 x4 x2

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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8 Attaching the Limit Switch
3/8 x4 x2

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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9 Wiring the Motors

Right Motor to MOTOR PORT 2

Left Motor to MOTOR PORT 3

Building Tip: 2-Wire Motors

If you are using the 2-wire VEX motors, you will need to plug your motors into MOTOR Ports 1 & 10, or use the VEX Motor Controller 29s to adapt the 2-wire motors to the 3-wire MOTOR Ports (2 - 9).

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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10 Wiring the Encoders

Top wire to DIGITAL PORT 2 Bottom wire to DIGITAL PORT 1 Top wire to DIGITAL PORT 3

Bottom wire to DIGITAL PORT 4

Building Tip: Encoder Wires

In the step above, the top encoder wire is the wire closer to the mounting holes.

Top Bottom

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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11 Wiring the Ultrasonic Rangefinder

OUTPUT to DIGITAL PORT 9

INPUT to DIGITAL PORT 8

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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12 Wiring the Bump Switch

DIGITAL PORT 11

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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13 Wiring the Limit Switch

DIGITAL PORT 6

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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14 Wiring the Light Sensor

ANALOG PORT 4

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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15 Wiring the Potentiometer

ANALOG PORT 3

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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16 Wiring the VEX LCD

RX/TX UART 2

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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17 Wiring the Analog Accelerometer

Top wire to ANALOG PORT 6

Middle wire to ANALOG PORT 7

Bottom wire to ANALOG PORT 8

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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18 Wiring the Arm Motor

MOTOR PORT 6

Building Tip: 2-Wire Motors

If you are using the 2-wire VEX motors, you will need to plug your motors into MOTOR Ports 1 & 10, or use the VEX Motor Controller 29s to adapt the 2-wire motors to the 3-wire MOTOR Ports (2 - 9).

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

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