Build Instructions

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• 1

  Step 1

  This is just a summary of building a glussbot:

  • Get at least 6 Actuonix Feedback actuators: http://www.actuonix.com/L16_Linear_Actuators_p/l16-p.htm for about $80 each.
  • Purchase the custom motor controller shield: https://oshpark.com/shared_projects/fijpozoB
  • Solder together the shield with all components:
  • 3 Pololu dual channel motor driver breakout boards: https://www.pololu.com/product/713
  • A sparkfun BlueSmirf Gold BlueTooth module: https://www.sparkfun.com/products/12582
  • Lots of headers to make a proper shield
  • Mount the shield on an Arduino Mega
  • Use a 3D printer printer the mountable Mega-and-battery-pack cases: https://github.com/PubInv/gluss/blob/master/MegaAndShieldEnclosure/combined_enclosure.scad, https://github.com/PubInv/gluss/blob/master/MegaAndShieldEnclosure/combined_enclosure.stl
  • 3D printer the lid
  • Choose the Turret Joint or Magnetic joint system
  • 3D print all of the connectors (this is constantly evolving, so I am hesitant to fully document it, but all files are here: https://github.com/PubInv/turret-joint/tree/master/STLs)
  • Connect the system together
  • Load the Arduino drives onto each Arduino Mega: https://github.com/PubInv/gluss/blob/master/GlussPCBv0.1/GlussPCBv0.1.ino
  • Use (and probably tweak) the emacs electric lisp program to issue commands via BlueTooth to the system: https://github.com/PubInv/gluss/blob/master/emacs-ctl.el
  • Develop and share new Glussbot gaits and applications.

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