Matice poklopca baterije
Umetnite 2 matice i pritegnite vijke. Ne koristite preveliku silu. Dozvolite da se poklopac otvara lako.
Potrebni elementi
Nylon nut M2 (mrm-nut-m2nyl1), 2 kom.
Konektori za kablove motora
Zalemite pločice s konektorima na motore. Pazite na orijentaciju; okrenite konektor u smjeru osovine, kao na slici. Pronađite malu crvenu točku na stranici nasuprot osovine. Okrenite konektor, prije lemljenja, tako da je crvena točka bliže konektoru. Ovaj posljednji korak nije nužan, ali osigurava da se svi motori okreću u istom smjeru.
Potrebni elementi
ML-R 16D Motor Connector (mrm-16d2), 4 kom.
ML-R BDC Motor 12 V, 16 mm, 1:100 (mrm-bdc16l50-100), 4 kom.
Motori
Stavite motore u ležišta.
Držači elektroničkih pločica
Spojnice kotača
Postavite spojnice na osovine, umetnite vijak bez glave i zategnite ga inbus ključem za ravni dio osovine.
Nemojte ugurati spojnice na vijke koji drže motor, nego napraviti oko 0.5 mm razmaka, kako ne bi zapinjali.
Potrebni elementi
ML-R wheel hub for 3 mm shaft (mrm-hub3), 4 kom.
Elektronika gornje strane
Postavite štampane pločice iznad njihovih odstojnika. Uočite pozicije. Držači moraju biti postavljeni točno ispod pločica.
Potrebni elementi
ML-R 8x8 bicolor display, CAN Bus,UART, 4 switches (mrm-8x8a), 1 kom.
ML-R Distribution Pins, 5x 3.3V + 5x 5V (mrm-distrib-f), 1 kom.
ML-R Power Supply 3x C, voltmeter (mrm-ps3xc), 1 kom.
MRMS ESP32: Arduino, IMU, eFuse, BT, WiFi, CAN Bus (mrm-esp32), 1 kom.
MRMS Motor Driver 4x3.6A CAN Bus (mrm-mot4x3.6can), 1 kom.
Vijci elektronike gornje strane
Senzori boje
Sam senzor boje nije u centru pločice.
Prilikom postavljanja pločice, postavite senzor na poziciju koju želite čitati, umjesto da to činite za center pločice.
Vijci elektronike donje strane
Vijcima pričvrstite senzore. Pričvrstite ih tek lagano. Kad ćete spajati kablove, najlakše je to učiniti tako da izvadite pločice van, spojite kablove, pa ih opet pričvrstite vijcima.
Potrebni elementi
Nylon bolt M2 5 mm, 1 pc. (mrm-bolt5m2nyl1), 6 kom.
Montaža rotacionih zglobova
Montirajte 2 rotaciona zgloba za bočne lidare.
Vrste lidara
Ako imate 2 i 4 m lidare, pazite da izaberete prave.
Pripremite dvometerske za sljedeći korak.
Razlika je samo u jednom čipu: na slici je to lijevi senzor.
Kotači
Štampajte 4 kotača. Izlijte silikonske gume prema
ovim uputama. Svaka guma treba 12 g silikona.
Pričvrstite kotače za spojnice. U stvari, kao i za lidare, prvo samo uočite pozicije. Pričvršćivat ćemo ih jednog po jednog, kao što ćemo opisati.
Potrebni elementi
Model: Wheel 70 mm, hub (wheel70), 4 kom.
Kablovi
Pripremite kablove za sljedeći korak.
Potrebni elementi
ML-R Cable KK254-KK254 10 cm (mrm-kk2.54-2.54-10), 1 kom.
ML-R Cable KK254-KK254 15 cm (mrm-kk2.54-2.54-15), 5 kom.
ML-R Cable KK254-KK254 5 cm (mrm-kk2.54-2.54-5), 2 kom.
ML-R Cable KK254-KK254 7.5 cm (mrm-kk254-254-7.5), 1 kom.
ML-R Cable KK396-KK396 7.5 cm (mrm-kk396-396-7.5), 1 kom.
ML-R Cable XT60-KK3.96 10 cm (mrm-xt60-kk3.96-10), 1 kom.
MRMS CAN Bus cable 10 cm (mrm-jst-can10), 1 kom.
MRMS CAN Bus cable 15 cm (mrm-jst-can15), 1 kom.
MRMS CAN Bus cable 5 cm (mrm-jst-can5), 4 kom.
MRMS CAN Bus cable 7.5 cm (mrm-jst-can7.5), 2 kom.
Ruka
Ugurajte gotovu ruku u žlijebove.
Matice držača lidara ruke
Cables
There are 4 types of connectors:
There are different colors of connectors:
- Dark red, for battery voltage.
- Bright red, for 5 V.
- Orange, for 3.3 V.
- Yellow, for voltages lower than 3.3 V.
- Green, for motor and solenoid outputs.
Almost all of the boards have either no or 2 connectors of each type, except Dupont. They are wired pin to pin and You can use any one of them. The idea is to daisy chain the connections. For example, first 5 V cable connects power supply (bright red, Molex KK254) to the same looking connector in MRMS ESP32: Arduino, IMU, eFuse, BT, WiFi, CAN Bus (mrm-esp32), any of the 2 connectors. The second connects MRMS ESP32: Arduino, IMU, eFuse, BT, WiFi, CAN Bus (mrm-esp32) to ML-R 8x8 bicolor display, CAN Bus,UART, 4 switches (mrm-8x8a), etc. There must always be connectors of the same color in one chain. Of course, it would not be fine to connect 5 V (bright red) to 3.3 V (orange) as some damage would occur. Important: although it is obvious that Molex KK254 and KK396 connector fit into appropriate headers in only one way, it is possible to connect them in the opposite direction. That would reverse voltage in the rest of the chain and it is also quite possible that some components may start burning. Mind the direction!
Connect all the Molex KK254 cables, bright red and orange lines, starting from MRMS Power Supply 3x B (mrm-ps3xb). The last orange cable in chain leads to MRMS reflectance sensors 9x, CAN, analog, I2C (mrm-ref-can) and is different from others as reflectance sensor uses Dupont 3.3 V header. Afterwards connect dark red Molex KK396, MRMS Power Supply 3x B (mrm-ps3xb) to MRMS Motor Driver 4x3.6A CAN Bus (mrm-mot4x3.6can). The other KK396 cable is ML-R Cable XT60-KK3.96 10 cm (mrm-xt60-kk3.96-10), which goes into the other dark red header of MRMS Power Supply 3x B (mrm-ps3xb).
Connect CAN Bus cables, too.