Class: ece 579 Author: David Gaskin

Parts Here is a list of materials required to complete this project

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Procedure Materials

Parts

Here is a list of materials required to complete this project:

Parts ordered online:

Item	Source	Price	QTY			Shipping		Total
Arduino Mega 2560 Microcontroller rev 3	http://www.trossenrobotics.com/p/arduino-mega-2560.aspx	64.95		1	0		64.95
Arduino Ethernet Shield	http://www.sparkfun.com/products/9026 , http://www.trossenrobotics.com/p/arduino-ethernet-shield.aspx	45.95		1	0		45.95
Arduino Box	http://www.trossenrobotics.com/p/arduino-project-box.aspx	11.95		1	0		11.95
Pig tail for power	http://www.trossenrobotics.com/store/p/6612-Barrel-Jack-Female-Pigtail-Lead-2-1-5-5mm.aspx	2.95		2	0		5.9
6vDC power for board	http://www.trossenrobotics.com/p/power-supply-6vdc-2a.aspx	9.95		1	0		9.95
12v 5A pwr supply for actuators	http://www.trossenrobotics.com/p/power-supply-12vdc-5a.aspx	19.95		1	0		19.95
Servo wire	http://www.trossenrobotics.com/store/p/6421-50-Feet-Standard-Servo-Wire.aspx	12.95		1	0		12.95
Motor Controller	http://www.trossenrobotics.com/store/p/5104-Sabertooth-dual-5A-motor-driver-for-R-C.aspx	59.99		2	0		119.98
Firgelli Actuators	http://www.firgelliauto.com/product_info.php?cPath=109&products_id=159	129.99		4	0		519.96
Actuator Mounting	http://www.firgelliauto.com/product_info.php?products_id=54	9		4	0		36
Totals							847.54

Parts purchased at local hardware store:

Item	Cost
Metal Knockout bit	44.97	For drilling out large metal holes
Dremmel carbide blades	8.98	For shaping holes
Dremmel EZ lock kit	16.53	For locking blades to dremmel
UPS shipping	10.52	For exchanging Motor driver (they sent the wrong part)
Terminal kit with tool	9.04	To make the terminal block
Terminals for 10-12, 14-16 gauge wires	5.58	To make the connections for the terminal block
Battery Clamps	3.29	For connecting terminal to power source
Washers	1.50	For spacing out the actuators on the plate
2x terminal blocks	15.98	For making a easy to connect to power source
14 gauge black wire	1.50	For terminal block and connections
14 gauge red wire	1.50	For terminal block and connections
10 gauge wire	2.35	For battery connections
Safety pins	3.12	For harness connections for aluminum plate and actuators
Total	124.86

Procedure

Materials(for sources, see parts list in appendix):

2x Sabertooth 2x5 motor controllers
4 Firgelli actuators
1 Arduino Mega
2x Aluminum plates, with four square holes cut into them (as described above).

Actuators
Set the actuators in the mounting of your support plate. Place the washers over the ends sticking out of the bottom of the plate, and insert the cotter pins so they don’t wiggle around.
Next, you will want to start getting out the wires. The red and black wires are your power wires, and the yellow wire is your wiper for your pot, the grey and the blue wires are your reference wires for the pot. (See below)

Connect your red and black wires to the sabertooth motor controllers. The wiring here won’t damage your board, but it will reverse the polarity, making it go the opposite direction. Connect your actuator to the M1A, M1B, M2A, or M2B ports. You want your actuator to be connected to either M1, or M2, not both. See below.

Once your actuator is connected to your motor controller, connect it to the Arduino. You will need to use the analog ports. See below for specifics on the yellow, blue and grey wires.

The actuators should now be fully connected. You will want to keep track of the analog pins used as well as which motor ports and motor controllers each one is connected too. This will make it easier when programming.
My actuators were connected to the following pins:

int Actuator1 = A8;

int Actuator2 = A9;

int Actuator3 = A10;

int Actuator4 = A11;
I used the board ground, the 5v coming off the motor controller for the 5v reference wire.

Directory: ~mperkows -> CLASS 479
CLASS 479 -> Group and title Equipment or People
CLASS 479 -> Human-Robot Interaction in a Robot Theatre that Learns
CLASS 479 -> I summer 2012 ntelligent Robotics I – ece 478/578 Class is taught by Professor Marek Perkowski
CLASS 479 -> Project Objectives
CLASS 479 -> Psu ece 510 aer class Project Tony Muilenburg, Hussein AlAmeer, Ben Huntsman

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