Include robot assembly

andino_hardware/README.md

@@ -11,18 +11,73 @@ This package aims to provide the necessary information to the correct assembly o
 | 3 | Motors | 2 x Motor with Encoder | [Sparkfun](https://www.sparkfun.com/products/16413) | - |
 | 4 | Microcontroller | Arduino Nano | [Amazon](https://www.amazon.es/RUIZHI-Interfaz-Controlador-Mejorada-Compatible/dp/B0CNGKG4MZ/ref=sr_1_6?dib=eyJ2IjoiMSJ9.gnHfW9VtlEjMns12dAyHXLyFAlaikWpFyoOQJpO0iJBR-zelggQTQ9n001SH_P6NQ9DO3gPetP2krm7GAGvJus6vz4Utqu8Hy1gol0Rq7nmtJITd70ZNi3linf9v1g1iP7MlBx98cBGLVvFy-O2kZnJ63uZDwOZzwz_kExJzUWAxroO3AjufqqGOQHswLfDfjH6jpOJt54xxpCaqurDccId2O0uGKOj6WpPz6iLSubpsPB479SWYPSncxWQzz2kO4VjT6HVzPS2uWi19TS-A9WXVZceLBiz9t25Pf39jiGQ.1sLxrQ94HdIoXBq4VcDFMZhzKoL3wyJoY-U6BmDI6fY&dib_tag=se&keywords=arduino+nano+v3&qid=1714468231&sr=8-6) | You can also use an Arduino Uno, but mind size. It should include a microUSB - USB cable. If not, you will need to purchase it.  |
 | 5 | Motor Driver | L298N Dual H Bridge | [Amazon](https://www.amazon.com/Bridge-Stepper-Driver-Module-Controller/dp/B09T6K9RFZ/ref=sr_1_4?crid=37YY7JO6C3WVE&keywords=l298&qid=1685740618&sprefix=l29%2Caps%2C277&sr=8-4) | - |
-| 6 | Laser Scanner | RPLidar A1M8 | [RobotShop](https://www.robotshop.com/products/rplidar-a1m8-360-degree-laser-scanner-development-kit?_pos=3&_sid=b0aefcea1&_ss=r), [Amazon](https://www.amazon.es/dp/B07VLFGT27?ref_=cm_sw_r_cso_wa_apan_dp_RJ3AZC2XCEVDK0X2DCGA&starsLeft=1&th=1) | - |
-| 7 | Camera | Raspi Camera Module V2, 8 MP | [Robotshop](https://www.robotshop.com/products/raspberry-pi-camera-module-v2), [Amazon](https://www.amazon.com/Raspberry-Pi-Camera-Module-Megapixel/dp/B01ER2SKFS?th=1)  | - |
+| 6 | Laser Scanner | RPLidar A1M8 | [RobotShop](https://www.robotshop.com/products/rplidar-a1m8-360-degree-laser-scanner-development-kit?_pos=3&_sid=b0aefcea1&_ss=r), [Amazon](https://www.amazon.es/dp/B07VLFGT27?ref_=cm_sw_r_cso_wa_apan_dp_RJ3AZC2XCEVDK0X2DCGA&starsLeft=1&th=1) | If no microUSB-USB cable is included, you will need to purchase one |
+| 7 | Camera | Raspi Camera Module V2, 8 MP | [Robotshop](https://www.robotshop.com/products/raspberry-pi-camera-module-v2), [Amazon](https://www.amazon.com/Raspberry-Pi-Camera-Module-Megapixel/dp/B01ER2SKFS?th=1), [Longer cable](https://www.amazon.es/AZDelivery-Repuesto-Raspberry-30cm-Flexkabel/dp/B01NAXKTDP/ref=sr_1_9?__mk_es_ES=%C3%85M%C3%85%C5%BD%C3%95%C3%91&crid=I1IK0FQVQCCU&dib=eyJ2IjoiMSJ9.2UYb-3a8M00iHZZiHT0xjp8vfzq-3BSmJSLxdtcCMV6WMj8g5T8T_j5DKX8cESxqnVN01YpV3nX28IuhewGTOsmJ4yF5st20TxU7kHNHftZE_aygB5vT-001wEvUfx70V0H0DZljw0YfC4R2wpjsTR_89pAA95C4F8LhJiGbbUGTEjBgmjnsRIFs6FYatZa9KVusNyv2cKxGZlav36gdoAkMXQUvX578c6frxSnH5DROCeK6bKSqrczA7R8OBVWC995fK1AxHbJLHZJEDQGXMVhUkHd2liBV0nq48mnyE6Q.nHty4TxSpldkH8FZAia_rx7sX6c2uIBpPRUEqwq5NiY&dib_tag=se&keywords=raspberry%2Bpi%2Bcamera%2Bcable&qid=1716878948&sprefix=raspberry%2Bpi%2Bcamera%2Bcable%2Caps%2C76&sr=8-9&th=1)  | A link for a longer cable (30 cm) is included, just in case the one included with the camera is too short. |
 | 8 | Electrical Power Supply | Powerbank 5V | [Amazon](https://www.amazon.es/Heganus-Powerbank-10000mAh-port%C3%A1til-pr%C3%A1ctico/dp/B082PPPWXY/ref=asc_df_B082PPPWXY/?tag=googshopes-21&linkCode=df0&hvadid=420334509253&hvpos=&hvnetw=g&hvrand=13392500367381615369&hvpone=&hvptwo=&hvqmt=&hvdev=c&hvdvcmdl=&hvlocint=&hvlocphy=9181150&hvtargid=pla-878722533582&psc=1&mcid=642b7553488f350a8726c7bfb183a667&tag=&ref=&adgrpid=95757266066&hvpone=&hvptwo=&hvadid=420334509253&hvpos=&hvnetw=g&hvrand=13392500367381615369&hvqmt=&hvdev=c&hvdvcmdl=&hvlocint=&hvlocphy=9181150&hvtargid=pla-878722533582) | Any powerbank is suitable: Mind size / weight / output current(>=2A) |
-| 9 | (Optional) Power Step up | DC - DC boost converter | [Amazon America](https://www.amazon.com/0-9-Step-Regulator-DC-Converter/dp/B0C6QTJMFN/ref=sr_1_25?crid=G0FHM4SS5TWX&keywords=dc+step+up+converter&qid=1685741155&sprefix=dc+step+up+conver%2Caps%2C371&sr=8-25), [Amazon Europe](https://www.amazon.com/Converter-Adjustable-Voltage-Regulator-Compatible/dp/B089JYBF25/ref=sr_1_3?crid=3EB0RWDAO1UED&dib=eyJ2IjoiMSJ9.OVkOHemqP_yF8PlJmBNcovwOq6TzYQJADN7pCYP7m9hgHNOuzIA3jqIt5kZK9azOh0Nu3D7ucFbFjgBJprKpAQsC1VhKtCS1z6QLs6w0Ht4seE97e8yWkUkP6fPOry_5D1nyfsh0aMc7wLknNr5R9yDWTg6cYralThbLeU8qfIcpq5m66m9luKznRZiv2eUaXvI0rmcQyLKR2Z5NO_xktttAXuvHAnEnBwpk_3LZ1xA.r84ipJcrDH3o24_JEB5q7jNYEzRKyi56VO3e-xi7QXo&dib_tag=se&keywords=dc%2Bstep%2Bup%2Bconverter&qid=1714468875&sprefix=dc%2Bstep%2Bup%2Bconverter%2Caps%2C170&sr=8-3&th=1) | If motors support higher voltage than 5V a step-up(e.g: to 9V) can be added between powerbank(5V) and motor driver |
-| 10 | Fixing & Mount | M3 bolts/fasteners - M3 Spacers - M2.5/2.0 bolts/fasteners for SBC | [Mercado Libre](https://articulo.mercadolibre.com.ar/MLA-823234605-kit-tornillos-electronica-500-unid-fresada-philips-m3-oferta-_JM#position=1&search_layout=stack&type=item&tracking_id=2a14497e-a3dc-4a0f-98fb-b3b524117284), [Amazon](https://www.amazon.com/Taiss-620PCS-Metric-Assortment-Washers/dp/B0CWXRG6VL/ref=sr_1_2_sspa?crid=3R3BT7LOQWZ4B&dib=eyJ2IjoiMSJ9.EBY3VtTnCGRri20ECsEwpF2eTrWOhlADXq8Rbv78LP7JVW0giUfPQ5-G3e5cVq7svNoKIPbFGf0jQoImIPuJvU72yWC0XaaXyHE03TjX1zVT-AxcCUr6bvvqnQrrwFNowZjHy2ZibnHX4sDMx3aixEmx5XUGq43KVEID5FIGzTw6xsLQd410DewktxUFWCHLSD8HR8BeAUKcP3mzciuPmc8dcz9TzY5cZ_wYFO-WyEQ.B5-OkrGZbzkIn8cw4Zb_LtQUoxX1qKuiVqI6PTNmpZk&dib_tag=se&keywords=kit+M3+tuercas+y+tornillos&qid=1714469030&sprefix=kit+m3+tuercas+y+tornillos%2Caps%2C149&sr=8-2-spons&sp_csd=d2lkZ2V0TmFtZT1zcF9hdGY&psc=1) | You would also need a set of screwdrivers if you don't have one |
+| 9 | Power Step up | DC - DC boost converter | [Amazon Europe](https://www.amazon.es/Convertidor-convertidor-Controlador-almacenamiento-Transformadores/dp/B08D5XF571) | If motors support higher voltage than 5V a step-up(e.g: to 9V) can be added between powerbank (5V) and motor driver. Screw clockwise to reduce the output voltage. |
+| 10 | Fixing & Mount | M3 bolts/fasteners - M3 Spacers - M2.5/2.0 bolts/fasteners for SBC | [Mercado Libre](https://articulo.mercadolibre.com.ar/MLA-823234605-kit-tornillos-electronica-500-unid-fresada-philips-m3-oferta-_JM#position=1&search_layout=stack&type=item&tracking_id=2a14497e-a3dc-4a0f-98fb-b3b524117284), [Amazon](https://www.amazon.com/Taiss-620PCS-Metric-Assortment-Washers/dp/B0CWXRG6VL/ref=sr_1_2_sspa?crid=3R3BT7LOQWZ4B&dib=eyJ2IjoiMSJ9.EBY3VtTnCGRri20ECsEwpF2eTrWOhlADXq8Rbv78LP7JVW0giUfPQ5-G3e5cVq7svNoKIPbFGf0jQoImIPuJvU72yWC0XaaXyHE03TjX1zVT-AxcCUr6bvvqnQrrwFNowZjHy2ZibnHX4sDMx3aixEmx5XUGq43KVEID5FIGzTw6xsLQd410DewktxUFWCHLSD8HR8BeAUKcP3mzciuPmc8dcz9TzY5cZ_wYFO-WyEQ.B5-OkrGZbzkIn8cw4Zb_LtQUoxX1qKuiVqI6PTNmpZk&dib_tag=se&keywords=kit+M3+tuercas+y+tornillos&qid=1714469030&sprefix=kit+m3+tuercas+y+tornillos%2Caps%2C149&sr=8-2-spons&sp_csd=d2lkZ2V0TmFtZT1zcF9hdGY&psc=1), [Spacers](https://www.amazon.es/YOKIVE-Separadores-Tornillos-Hexagonal-Consistente/dp/B0BWXL75R6/ref=sr_1_11?__mk_es_ES=%C3%85M%C3%85%C5%BD%C3%95%C3%91&crid=39R5HOTYH2AC9&dib=eyJ2IjoiMSJ9.7A-mx6__B2agU-KSbpRPhlNj2WkQfkj8OtZKEmwlwHa3NiDqUA-1Um0339r3Ssad0h03L471s08VcgBGByJpKwummUR8Sgyt3AuF4sahKIacNlyBlD8mcl3bNQ54HR8L585aepoUOxllFXUi2AEGde8kjkNqaiOEcyflppOf1eKtAtlyTYnnjOVJs5YqRK97QV3pUt1g8Rt1zLn7RsEtRrvlMQIXXBjIFFZsqK2tN7OBY2lgorgdRsXP1aS5tad9rD9vsl9SkPUx_c1Bf0ulzabNSFk19v_cSd0IwEx2zSw.30hsx31Q_-5A3eLrlOwhoTvAs_yDufCk04NiN0xk0C8&dib_tag=se&keywords=spacer+30mm+m3&qid=1716156793&refinements=p_n_free_shipping_eligible%3A20930980031&rnid=20930979031&sprefix=spacer+30mm+m3%2Caps%2C107&sr=8-11) | You will probably need to replace the default spacers for the LiDAR with M3 spacers |
 | 11 | Other 3D printed parts | Camera Mount | [3D models](./printing_model/raspi_cam_mount/) | These parts are for fixing the Raspi Cam at the front of the robot |
+| 12 | Caster wheel | Caster wheel | [Amazon](https://www.amazon.es/Unidades-Peque%C3%B1as-Dispositivo-Transferencia-Transporte/dp/B098XHYW7F/ref=asc_df_B098XHYW7F/?tag=googshopes-21&linkCode=df0&hvadid=529604577974&hvpos=&hvnetw=g&hvrand=15132275207682237467&hvpone=&hvptwo=&hvqmt=&hvdev=c&hvdvcmdl=&hvlocint=&hvlocphy=9181150&hvtargid=pla-1396749454795&psc=1&mcid=b1df85a65d163e89b507de60e73f9e65) | - |
+| 13 | SD Card | 64 GB SD Card | [Apokin](https://www.apokin.es/tarjeta-microsd-philips-64gb-class10.html), [Amazon](https://www.amazon.es/Kingston-Tarjeta-SDCS2-64GB-Adaptador/dp/B07YGZQ4H8/ref=sr_1_7?dib=eyJ2IjoiMSJ9.zE4PI6DCNK3d78rtl5ga1NQXGwJT1jC2iqi3mXNzbdJ4BosAUPCn9gc13Gc7pdHDx-7wTy4CDj0zIlgDpu9qXH-6GLgI--pJbfi3OvTBPhwwH-tfi1OzM9xqcAOJG6pJuTtkknsyFk6Ma2EHJ4UdheaziDC_KKaWNKgsf_DFbcA-ZxQSXlTtQqwHvCzgi8hq4vKGiEIY-LSZS_sXE9IUGroo0Isl59Po2IXhTBG5IHnnsVR_7lo0dVBVFYl-5GY2CvJbrixULuPl90TbFTTP6DoIeDcpFdDTcbvSK3Lecss.WXBgIZllFgQxx13Szl3q6WIlTOliwrN8V42J1SzNJ8o&dib_tag=se&qid=1714552555&refinements=p_n_feature_browse-bin%3A948155031&s=computers&sr=1-7) | The SD Card is used to host the OS for the Raspberry Pi |
+| 14 | (Optional) Plastic seals | - | - | You will need at least 2 longer ones to fix the powerbank to the upper chassis, and the shorter ones for all the wires. If you don't want to use them, you can use other method to fix the powerbank and wires |
 
+When you gather all the parts, you should have the following (NOTE: the printed encoder wheels are no longer necessary, since the motors are equipped with an embedded encoder):
 
+<img src="docs/parts.jpg">
+
+### Tooling
+
+| Number | Tool | Links | Comments |
+|:--:|:------:|:--------------------:|:-------------------------------------------------------:|
+| 1 | Set of screwdrivers | [Amazon](https://www.amazon.es/Ainiv-Destornilladores-Precisi%C3%B3n-Destornillador-magnetizador/dp/B09CD1F44B/ref=asc_df_B09CD1XT57/?tag=googshopes-21&linkCode=df0&hvadid=529495276761&hvpos=&hvnetw=g&hvrand=2854754490438163902&hvpone=&hvptwo=&hvqmt=&hvdev=c&hvdvcmdl=&hvlocint=&hvlocphy=9181160&hvtargid=pla-1431590275356&mcid=4f49c0c6c8ca33b390169090ae4ad15b&th=1) | You need flat and star screwdrivers |
+| 2 | Silicon Pistol | [Amazon](https://www.amazon.es/Tilswall-Pegamento-Manualidades-Bricolaje-Reparaciones/dp/B07TD1RD4R/ref=pd_ci_mcx_pspc_dp_d_2_i_1?pd_rd_w=49k0d&content-id=amzn1.sym.f11fe75a-7397-412e-9b90-7e09bf6f5c14&pf_rd_p=f11fe75a-7397-412e-9b90-7e09bf6f5c14&pf_rd_r=MA73TQJTYS2GMC7XW7YC&pd_rd_wg=Z3aRz&pd_rd_r=08e805c6-81b7-4023-8ea1-9b357536cba1&pd_rd_i=B07TD1RD4R&th=1) | This pistol should include 75 silicon bars so you won't need to purchase them separately |
+
+## Assembly Process
+
+  1. Screw the Motor Driver and the idler wheel to the lower chassis.
+
+  <img src="docs/caster_wheel_h_bridge.jpg">
+
+  Here you have a front image of how the caster wheel are mounted to the chassis:
+
+  <img src="docs/caster_wheel.jpg">
+
+  2. Screw the 3D printed parts for the Raspi Camera Module:
+
+  <img src="docs/printed_camera_parts.jpg">
+
+  3. Add the Arduino Nano to the back of the lower part of the chassis. It should look like this:
+
+  <img src="docs/lower_back.jpg">
+
+  4. Screw the Raspberry Pi and the DC-DC converter to the front of the lower part of the chassis:
+
+  <img src="docs/lower_front.jpg">
+
+  5. Fix the powerbank to the back of the upper part of the chassis:
+
+  <img src="docs/powerbank.jpg">
+
+  6. Add the RPLidar to the front of the upper part of the chassis:
+
+  <img src="docs/lidar.jpg">
+
+  7. Add the IMU.
+
+  <!-- TODO Add photo of the IMU physical implementation-->
+
+  8. Perform all the wiring following the [Connections Diagram](#connection-diagram) of both the upper and lower chassis. Note that some of the connections may need to be done by soldering the cables.
+
+  9.  Join both chassis together, and complete the remaining wiring to have your robot ready:
+
+  <img src="docs/andino_complete.jpg">
+
+<a name="connection-diagram"></a>
 ## Connection Diagram
 
 ### Motor-Arduino
 
+
 <img src="docs/andino_diagram_arduino.jpg" />
 
 Some frequent errors:
@@ -50,7 +105,7 @@ The SBC used in this project is a Raspberry Pi 4b so the guidelines here will re
 Ubuntu Mate 22.04 ARM64 is the recommended operative system for this project. This OS provides good capabilities for a educational platform as well as good performance.
 
 For installing this OS in the Raspberry:
-1. Download the image from here: [ubuntu mate download]()https://ubuntu-mate.org/download/arm64/
+1. Download the image from here: [ubuntu mate download](https://ubuntu-mate.org/download/arm64/)
 
 
 2. Install OS to a microSD card using [Raspberry Pi Imager](https://www.raspberrypi.com/software/).
@@ -194,7 +249,7 @@ For now, after connecting it to the usb port:
 #### Fixed USB port names
 
 As having multiple USB devices connected to the USB ports of the Raspberry Pi, the automatically assigned USB port numbers could unexpectedly change after a reboot.
-To avoid assigning your device to a `tty_USBX` number that isn't the correct onew we should assign fixed USB port name for each connected device.
+To avoid assigning your device to a `tty_USBX` number that isn't the correct one we should assign fixed USB port name for each connected device.
 
 The idea is to be able to generate a link between the real `ttyUSBX` port and an invented one. For this we will need to create rules, that every time the Raspberry Pi boots are executed, and therefore we
 always point to the correct port name.
@@ -313,7 +368,7 @@ Let' source the ROS Humble installation:
 ```
 source /opt/ros/humble/setup.bash
 ```
-Let's build the packages (`andino_gz_classic` and `andino_apps` relies on simulation so we skip them):
+Let's build the packages (`andino_gz_classic` and `andino_apps` work only in simulation):
 ```
 colcon build --packages-skip andino_gz_classic andino_apps
 ```