Setting Up about the Zybot - Hardware in detail II
At this point you should have completed the power considerations instructable. We are going to be setting up the hardware for the robot. Including the body, motor, camera arm and other miscellaneous parts we need for the robot to run. To make the Zybot you will need a lot of materials. I don't want to make a huge list here so I will list the parts in the next 3 steps, grouped based on where you might find these parts.
Step 1: Step 11: Attach the PmodCON3
Plug the Pmod CON3 into the bottom row of port JD. Remove the blue jumper.
Step 2: Step 12: Attach the USB Hub
The next thing we need to do is attach the USB hub. We need to place it right in front of the screws attaching the drag button. The Zybot gets jostled around quite a bit, so you'll need to attach it very securely. I use 3 zip-ties. Plug the USB hub into the USB port on the ZYBO.
Step 3: Step 13: Tape the Pmod Cables Together
Using the electrical tape, tape the Pmod cables together. Stick a six pin header in each cable and connect them together so they are electrically connected. Pay attention to the flowers on the cable. The flower indicates which pin connects to which on either side of the Pmod cable. To make sure there is no confusion make sure the flowers are together.
In the first image although the flower on the second cable is on the bottom side it is lined up with the flower on the first cable on the top side.
Step 4: Step 14: Connect the H-bridges to the Zybo
Use the cables you just created to connect the ZYBO to the H-bridges.
Plug each cable into the H-bridges, insuring that the flower is on pin one of each H-bridge.
Plug the right H-bridge into the top of port JE, and the bottom H-bridge into the bottom of port JE. Again make sure the flower of each cable is attached to pin 1. Use the 6 pin, pin headers to connect the cables to the ZYBO port.
Step 5: Step 15: Tighten the loose cables with Zipties
At this point you probably notices that the Pmod cables are dangerously loose. We can fix that with a few zip-ties. Zip-tie the cables down keeping the bulk to the cable as far back on the Zybot as possible.
Step 6: Step 16: Connect the Two Servo Brackets
Next we are going to connect the two servo brackets together. Connect them so that the short side of one servo bracket is attached to the back on the long side of the second. Use two of the screws from the servo bracket kit.
Step 7: Step 17: Connect the Servos to the Servo Bracket.
Attach the servos to the brackets using more of the screws from the servo bracket kit. The top servo should have the circular connector screwed on, and the bottom servo should have no servo connector screwed on.
Step 8: Step 18: Connect the Single Motor Mount.
Connect the single motor mount to the circular servo connector, so that there is an arm and a place for the camera to sit on. If you used the 3d printed part you can glue the arm on, otherwise you will have to screw together the two single motor mounts and screw them on to the servo.
Step 9: Step 19: Attach the Camera
Next dettach the camera hinge and glue the camera on to the arm you just created.
Step 10: Step 20: Create a Base for the Servos
Using the 3/4 inch screws. Attach one of the spined-hub wheels to the far right front of the Zybot. Then connect the servo to the wheel. You may find the need to hot glue the servo into the wheel if you end up driving the Zybot too wildly.
Plug the servos into the PmodCON3, paying attention to power and ground, and connect the camera to the USB hub.
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