Inchworm (#331)
* images for inchworm project * binding pictures * updated inchworm lesson
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docs/projects/inchworm/chassis.md
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# Chassis
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### @description Building the cardboard inchworm
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### ~avatar avatar
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Turn a piece of cardboard into an inchworm!
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### ~
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## Duration: ~45 minutes
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## Materials
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* Cardboard
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* Scissors or cutters
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* glue gun or tape
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* 1 paper clip
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## Step 1: cardboard
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Cutout a cardboard rectangle. You can use the @boardname@ as a ruler to figure out the size.
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## Step 2: center fold
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Fold the cardboard in half over the short edge.
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## Step 3: legs
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Fold each end so they rest flat on the ground.
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## Step 4: front teeth
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Fold each corners on one end of the cardbard. This will be the front of the inchworm which is supposed to grip the ground.
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## Step 5: back teeth
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Using a scissor or a cutter (watch the fingers!), cut out various strips in the other edge. Fold one after the other.
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## Step 6: mounting the board
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Using tape or a glue gun, mount the @boardname@ on one side and the microservo on the cardobard.
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## Step 7: mounting the servo
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Attach the servo on the **edge** of the other cardboard side.
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## Step 8: Cable clean up (optional)
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Use tape to route the cables nicely on the inchworm.
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## Step 9: attaching paper clip to servo
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Unfold a paper clip and attach it to the servo arm.
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## Step 10: attaching paper clip to cardboard
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Slide the folder paper clip into the cardboard, and use tape to secure it.
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You might need to toy around with the size of the clip so that the servo rotation opens the inchworm sufficiently.
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## Step 11: it's ready!
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Your inchworm is ready!
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### ~button /projects/inchworm/code
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NEXT: Code
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### ~
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47
docs/projects/inchworm/code.md
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docs/projects/inchworm/code.md
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# Code
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### @description code to make the inchworm alive
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### ~avatar avatar
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Add code to make the inchworm move.
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### ~
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## Duration: ~15 minutes
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## Step 2: walk forever
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In order for the inchworm to move, the @boardname@ needs to command the servo to go between ``0`` and ``180`` degrees
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at a certain pace. In the code below, the user pressed button ``A`` to launch the inchworm.
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```blocks
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input.onButtonPressed(Button.A, () => {
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pins.servoWritePin(AnalogPin.P0, 0)
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basic.pause(500)
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pins.servoWritePin(AnalogPin.P0, 180)
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basic.pause(500)
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});
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### ~ hint
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You may have noticed that the inchworm can be rather slow or simply won't move. Try to improve the design of your legs, teeth
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so that the inchworm goes as fast as possible. Trying it on carpet also great helps avoiding skidding.
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### ~
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## Step 3: radio controlled inchworm
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You will need 2 @boardname@ for this part. By using the radio, we can make the inchworm controlled by another @boardname@.
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Download the code below to the @boardname@ on the inchworm and another "controller" @boardname@. Whenere A is pressed, the inchworm will move once.
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```blocks
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radio.onDataPacketReceived(({receivedNumber}) => {
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pins.servoWritePin(AnalogPin.P0, 0)
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basic.pause(500)
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pins.servoWritePin(AnalogPin.P0, 180)
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basic.pause(500)
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})
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input.onButtonPressed(Button.A, () => {
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radio.sendNumber(0)
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})
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```
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130
docs/projects/inchworm/servo.md
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docs/projects/inchworm/servo.md
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# Preparing the servo
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### @description Connecting the servo to crocodile clips
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### ~avatar avatar
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Equip the microservo with crocodile clips.
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### ~
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## Duration: ~30 minutes
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## Materials
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* Cutting pliers or wire cutter
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* Tape (masking, duct tape, and/or packing tape)
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* 3 crocodile clips, yellow, red and black.
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* 1 micro servo 9g (SG90)
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## Using a microservo with the @boardname@
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The @boardname@ provides just enough current to operate the SG90 microservo.
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The servo requires 3 connections: GND, 3V and a logic pin.
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In this tutorial, we will equip the servo with crocodile clips to make it easier to use.
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However, you could also use a shield or female to crocodile clips to acheive the same effect.
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If you are running a class or activity, you should consider preparing all servos before hand.
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### ~ hint
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Kitronik wrote an excellent in-depth guide about using servos with the @boardname@.
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Check it out at
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### ~
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## Step 1: cutout the connector
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Using the cutting pliers, cut out the dark plastic connector.
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## Step 2: strip out cables
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Using the plier or a wire stripper, strip the plastic from the cables.
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## Step 3: threading the servo cablers
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Thread the servo cables.
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## Step 4: crocobile clip claps
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Cut a crocodile cable in two and strip out the casing.
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If possible try to use the same cable colors as the servo!
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## Step 5: thread cables together
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Place the cables next to each other
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... and thread them together.
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### ~ hint
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It is very **important** to ensure that there is a good connection between the 2 cables.
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If the connection is weak, the microservo will not receive enough current and it will not work.
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If you have access to a soldering iron, we strongly recommend to solver this connection.
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### ~
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## Step 4: protect the connection
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Protect the connection with electrical or duct tape.
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## Step 5: repeat for all cables
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Repeat the same process until all cables are connected.
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## Step 6: testing!
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It's time to test that your connection are all proper and that the servo will function **when the @boardname@ is powered by battery**.
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* Connect the microservo to the @boardname@. Black cable on ``GND``, red cable on ``3V`` and remaining cable on ``P0``.
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### ~ hint
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When attaching the crocodile clips to the pins, don't hesitate to grab the side of the board with the jaws.
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### ~
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* Download the following code to your @boardname@
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```blocks
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let a = 0
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basic.forever(() => {
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a = input.acceleration(Dimension.X)
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pins.servoWritePin(AnalogPin.P0, pins.map(
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a,
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-512,
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512,
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0,
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180
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))
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})
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```
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* When powered by USB, make sure that the servo moves when you tilt the board.
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* When powered by batteries **only**, make sure that the servo moves when you tilt the board.
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If your servo seems to sutter and stay stuck at a particular position, it means that it is not receiving enough power.
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This is probably due to a weak connection or low battery level. Check each connection and check your batteries.
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### ~button /projects/inchworm/chassis
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NEXT: Chassis
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### ~
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