diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 6b253d3..9bc3968 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -69,7 +69,7 @@
"cppStandard": "c++11",
"defines": [
"F_CPU=16000000L",
- "ARDUINO=10819",
+ "ARDUINO=10607",
"ARDUINO_AVR_MEGA2560",
"ARDUINO_ARCH_AVR",
"__DBL_MIN_EXP__=(-125)",
diff --git a/Configuration.h b/Configuration.h
index 2eb1c2e..21847ee 100644
--- a/Configuration.h
+++ b/Configuration.h
@@ -20,16 +20,15 @@
#ifndef Configuration_h
#define Configuration_h
+// The base memory location in EEPROM where configurayion settings are saved.
+#define SAVED_EEPROM_BASE_MEMORY_LOCATION 10
+
// Set to true if you are using an Adafruit 2.8" TFT Touch Shield for
// Arduino w/Capacitive Touch with an Arduino Mega 2560 Note: A Mega
// 2560 is required due to the memory requirements. You will also
// need to cut the traces between 11-13 and solder bridge the ICSP
// pins for the board to work with the Mega 2560 board.
// REf: https://learn.adafruit.com/adafruit-2-8-tft-touch-shield-v2/connecting#using-with-a-mega-slash-leonardo
-
-// The base memory location in EEPROM where configurayion settings are saved.
-#define SAVED_EEPROM_BASE_MEMORY_LOCATION 10
-
#define ADAFRUIT_TFT_TOUCH_SHIELD true
// Adafruit 2.8" TFT Touch Shield for Arduino w/Capacitive Touch
@@ -80,6 +79,7 @@
#define PEN_AXIS_PORT 1
#define ROTATION_AXIS_PORT 2
+#define COORDINATE_ROTATION 0
#define SERVO_PIN 6
#define REVERSE_SERVO true
diff --git a/Documentation/Assembly.md b/Documentation/Assembly.md
index 81eb25a..685ff53 100644
--- a/Documentation/Assembly.md
+++ b/Documentation/Assembly.md
@@ -2,7 +2,7 @@
## Overview
-One of the issues I have with Thingiverse.com is that a large amount of user uploads are half-finished projects in the mind of an engineer. In particular, they provide wonderful ideas in the form of STL files, but they don’t bother to provide the original CAD files, a BOM (Bill of Materials) list, assembly instructions and any other relevant information. It is my hope that this and the other documents in this project provide a complete understanding for even a novice to build a SphereBot. Please use the GitHub issues to provide any feedback.
+One of the issues I have with Thingiverse.com is that a large amount of user uploads are half-finished projects in the mind of an engineer. In particular, they provide wonderful ideas in the form of STL files, but they don’t bother to provide the original CAD files, a BOM (Bill of Materials), assembly instructions and any other relevant information. It is my hope that this and the other documents in this project provide a complete understanding for even a novice to build a SphereBot. Please use the GitHub issues to provide any feedback.
## 3D Prints
@@ -22,12 +22,52 @@ Quantity | Part | File
1 | Pen Arm Top | pen_arm_top.stl
1 | Spring | spring.stl
-I am currently working on a second bulid using the Thingiverse project SphereBot Redrawn by jsc published May 23, 2015 (https://www.thingiverse.com/thing:844167). This addition is a work in progress and will be documented as time allows.
+The following is a hole size chart compiled to determine the size of hardware required for assembly. You may also find it useful when cleaning the holes in your 3D printed parts. I like to use a Pin Vise Hand Drill along with a set of metric drill bits from 1.0mm to 10mm in 0.5mm increments for this purpose.
+
+Part | Hole Description | Size | Depth
+--- | --- | --- | ---
+End Plates | Threaded Rod | 8mm | 5mm
+
| Stepper Motor/Idler Bearing Mount | 4mm | 5mm
+Idler Bearing Plates | Mounting Holes | 4mm | 5mm
+
| Bearing Hole | 22mm | 5mm
+Brace - Driver Side | Threaded Rod | 8mm | 6mm
+
| Plate Mount | 3mm | 5mm
+Brace - Idler Side | Threaded Rod | 8mm | 6mm
+
| Plate Mount | 3mm | 11mm
+Drive Cup | Shaft | 5mm | 24mm
+
| Set Screw | 3mm | 8mm
+Idler Cup | Shaft | 8mm | 24mm
+Back Plate | Threaded Rod | 8mm | 52mm
+
| Stepper Motor Mounting Slots | 3.6mm | 6mm
+Pen Arm Shaft Coupler | Shaft Screw | 4mm | 5.6mm
+
| Shaft Nut Slot | 3.2x7mm | NA
+
| Pen Arm Mounting Hole | 4mm | 5mm
+
| Pen Arm Mounting Nut | 7mm | 2mm
+
| Shaft w/Key | 5mm | 10mm
+Pen Arm Pivot | Shaft Coupler Mounting Slot | 6mm | 5mm
+
| Servo Mounting Holes | 2mm | 4mm
+
| Top Arm Mount | 4mm | 28mm
+Pen Arm Top | Pen Screw Hole | 4mm | 9.5mm
+
| Pen Nut Hole | 3.5x7mm | NA
+
| Spring Mount Hole | 3mm | 16mm
+
| Shaft Hole | 4mm | 16mm
+Spring | Servo Mounting Hole | 2mm | 4mm
+
| Pen Arm Mounting Hole | 3mm | 4mm
+Leg Trusses | Threaded Rod (w/16mm pad area) | 8mm | 7mm
+
| Feet Holes | 4mm | 5mm
+Arduino Mounting Plate | Threaded Rod | 8.5mm | 60&40mm
+
| Arduino Mounting Holes | 2.8mm | 3mm
+
| Mounting Washers | 2.8mm | 2mm
+NEMA 17 Stepper | Mounting Hole (Threaded M3) | 3mm | 4.5mm
+
| Shaft | 5mm | 24mm
+
+
+I am currently working on an alternate build using the Thingiverse project SphereBot Redrawn by jsc published May 23, 2015 (https://www.thingiverse.com/thing:844167). Version 2 of this redraw eliminates printing/bolting on idler bearing plates. This addition is a work in progress and will be documented as time allows.
Quantity | Part | File
--- | --- | ---
1 | Back Plate | back_plate.gcode
-1 | Pen Arm Shaft Coupler Cradlepoint.gcode
+1 | Pen Arm Shaft Coupler | cradlepoint.gcode
1 | Drive Cup | drive_cup.gcode
1 | End Plate | end_plate.stl
2 | Idler Cup | idler_cup.gcode
@@ -38,19 +78,19 @@ Quantity | Part | File
1 | Brace - Idler Side | right_brace_v2.gcode
1 | Spring | spring.gcode
-You will find the project benefits greatly from the Thingiverse project Leg Truss for Improved Printable EggBot by Daniel_Isdell published May 24, 2014 (http://www.thingiverse.com/thing:341204)
+You will find the project benefits greatly from the addition of Thingiverse project Leg Truss for Improved Printable EggBot by Daniel_Isdell published May 24, 2014 (http://www.thingiverse.com/thing:341204)
Quantity | Part | File
--- | --- | ---
2 | Leg Trusses | Leg-Truss2.stl
-If you are building the original SphereBot configuration you will find the Thingiverse project From Arduino Uno mount for Glasswalkers Revised Fully Printable Eggbot by MarkBenson published June 4, 2012 (http://www.thingiverse.com/thing:24256) useful to mount the arduino.
+If you are building the original SphereBot configuration you will find the Thingiverse project From Arduino Uno mount for Glasswalkers Revised Fully Printable Eggbot by MarkBenson published June 4, 2012 (http://www.thingiverse.com/thing:24256) useful to mount the Arduino.
Quantity | Part | File
--- | --- | ---
1 | Arduino Mounting Plate | mountingplateandsupportsv0.2.5_fixed.stl
-For the version 2 touchscreen SphereBot configuration you will want to print 2 of the LCD mounts. The STL file for a single mount an washer spacers can be found in the STL folder.
+For the version 2 touchscreen SphereBot configuration you will want to print 2 of the LCD mounts. The STL file for a single mount and washer spacers can be found in the STL folder.
Quantity | Part | File
--- | --- | ---
@@ -59,13 +99,98 @@ Quantity | Part | File
## Bill of Materials
*To be completed in the a future release.*
-Reference the Electronics Overview documentation for a bill of meterials for all of the projects electronic parts.
+The following is a hardware parts list needed to assemble the 3D printed parts and mount the stepper motors, servo and Arduino.
-## Sourcing
+## 8mm
+Quantity | Part | Source
+--- | --- | ---
+4 | 18-8 Stainless Steel Threaded Rod, M8 x 1.25 mm Thread Size, 300 mm Long | McMaster-Carr
https://www.mcmaster.com/catalog/90024A229
+6 | 18-8 Stainless Steel Cap Nut, M8 x 1.25 mm Thread | McMaster-Carr
https://www.mcmaster.com/catalog/94000A039
Note: Comes in pack of 10
+18 | 18-8 Stainless Steel Hex Nut, M8 x 1.25 mm Thread | McMaster-Carr
https://www.mcmaster.com/catalog/91828A410
Note: Comes in pack of 50
+13 | 18-8 Stainless Steel Split Lock Washer for M8 Screw Size, Standard, 8.5 mm ID, 14.8 mm OD | McMaster-Carr
https://www.mcmaster.com/catalog/92148A200
Note: Comes in pack of 100
+24 | 18-8 Stainless Steel Washer for M8 Screw Size, 8.4 mm ID, 16 mm OD | McMaster-Carr
https://www.mcmaster.com/catalog/93475A270
Note: Comes in pack of 100
+4 | Flanged Knurled-Head Thumb Nut, 18-8 Stainless Steel, M8 x 1.25 mm Thread Size, 19 mm Head Diameter | McMaster-Carr
https://www.mcmaster.com/catalog/96445A380
+4 | 608ZZ Bearings | Amazon, eBay, etc.
+1 | #8 Barrel Spring, 7/16" & 11/16" x 2" | Ace Hardware, City Mill
+
+### 4mm
+Quantity | Part | Source
+--- | --- | ---
+2 | M4-16 304 Stainless Steel Hex Socket Head Cap Screws
For mounting the pen arm. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+1 | M4-20 304 Stainless Steel Hex Socket Head Cap Screws
For the pen lock. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+1 | M4-35 304 Stainless Steel Hex Socket Head Cap Screws
For the pen arm hinge. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+3 | M4 304 Stainless Steel Nuts
For mounting the pen arm and pen lock. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+1 | M4 304 Stainless Steel Nylon Lock Nuts
For the pen arm hinge. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+6 | M4 304 Stainless Steel Flat Washers
For mounting the pen arm and pen arm hinge. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+2 | M4 304 Stainless Steel Spring Lock Washers
For mounting the pen arm. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+
+### 3mm
+Quantity | Part | Source
+--- | --- | ---
+1 | M3-8 304 Stainless Steel Hex Socket Head Cap Screws
For the pen stepper motor shaft lock. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+7 | M3-10 304 Stainless Steel Hex Socket Head Cap Screws
For mounting rotation & pen stepper motor. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+1 | M3-16 304 Stainless Steel Hex Socket Head Cap Screws
For mounting rotation stepper motor. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+7 | M3-20 304 Stainless Steel Hex Socket Head Cap Screws
For mounting bearing hubs. | Easiest/cheaper in bought in assortment kit from Amazon vs. individually from McMaster-Carr
+1 | M3-30 304 Stainless Steel Hex Socket Head Cap Screws
For mounting bearing hubs. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+8 | M3 304 Stainless Steel Nuts | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+24 | M3 304 Stainless Steel Flat Washers
For mounting bearing hubs, rotation & pen stepper motor. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+16 | M3 304 Stainless Steel Spring Lock Washers
For mounting bearing hubs, rotation & pen stepper motor. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+
+### 2.5mm
+Quantity | Part | Source
+--- | --- | ---
+4 | M2.5-10 304 Stainless Steel Hex Socket Head Cap Screws
For mounting Arduino. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+1 | M2.5-20 304 Stainless Steel Hex Socket Head Cap Screws
For pen arm servo spring. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+2 | M2.5 304 Stainless Steel Flat Washers
For pen arm servo spring. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+5 | M2.5 304 Stainless Steel Nylon Lock Nuts
For mounting Arduino and pen arm servo spring. | Easiest/cheaper if bought in assortment kit/set from Amazon vs. individually from McMaster-Carr
+
+### Odd
+
+Quantity | Part | Source
+--- | --- | ---
+2 | Small 1/4" long self-tapping servo mounting screws | Included with Micro Servo - MG90D High Torque Metal Gear Product ID: 1143 from Adafruit.
+2 | Nitrile or Silicone 206 O-Ring 1/2" ID, 3/4" OD, 1/8" Width | Ace Hardware, Amazon
+
+Reference the Electronics Overview documentation for a bill of materials for all of the project's electronic parts.
+
+## Assembly
*To be completed in the a future release.*
+1. Begin by taking 3 of the 18-8 threaded rods and thread a M8 cap nut on to the end of each with 3 turns. It is not necessary to tighten down the nuts.
+2. To each of the rods add a M8 spring lock washer, followed by a M8 flat washer.
Note that throughout the build flat washers are used to protect 3d printed plastic parts from the wear of screws and nuts along with evening out the pressure. In all cases other than when a nylon lock nut is used, spring lock washers are used to keep screws secure.
+
+3. Take 2 of the rods with cap nuts and insert them through the holes in one of the leg trusses.
+4. Next take an end plate and slide the bottom two holes onto the 2 rods up against the leg truss. Slide the third rod with a cap nut through the top back hole on the end plate.
+5. Add a M8 flat washer, followed by a M8 nut to all 3 rods. Loosely tighten and confirm the 2 bottom rods are the same length from the end plate. If not, adjust by loosening the nut, turning the cap nut and tightening the nut. The length of the third rod is not important at this time and will be trimmed later in the assembly.
+
+6. On each of the back two rods thread a flanged knurled-head thumb nut to about 25mm away from the end plate with the large side of the thumb nut towards the end plate.
+7. On to the back two rods slide on the black plate. With the end plate on you left and the single bar up front close to you the flat side of the black plate should be facing away from you.
+8. Now on each of the back two rods thread a flanged knurled-head thumb nut up to the back plate with the large side of the thumb nut away from back plate. The thumb screws allow you to easily adjust the position of the pen for different size objects.
+9. On the front rod thread a M8 nut 25mm away from the end plate.
+10. Slide the drive side brace on to the front rod, followed by a M8 flat washer and nut. The brace should angle towards the end plate. Do not tighten down the nut. You will do this in a later step after attaching the rotational drive stepper motor.
+
+11. On the front rod thread a M8 nut followed by a flat washer to about 100mm away from the end plate.
+12. Slide the idler side brace on to the front rod, followed by a M8 flat washer, spring lock washer and nut. The brace should angle away from the end plate. Do not tighten down the nut. You will do this in a later step after positioning center idler end plate.
+13. Press 1 of the 4 608ZZ bearings in to the each of the idler bearing plates. If you 3D print was the SphereBot Redrawn by jsc press bearings into each side of each idler end plate. The bearins will fit snugly into your 3D printed parts. You can use a wood block and hammer to gently tap the bearings into place or a clamp or vise to gently squeeze them into place. If you are using the newer If you 3D print was the SphereBot Redrawn by jsc idler end plates you can skip to step 16.
+14. Next you will mount 2 idler bearing plates onto the center end plates. An idler bearing plates gets mounted on each side of the end plate facing out. This requires 3 M3-20 hex socket head cap screws. Each screw will require a flat washer on the head side and a flat washes, spring lock washer and nut on the opposite side. With the center plate back facing away from you place the screw heads to your left. Use the 3 M3-20 screws in all but the top front idler bearing plate hole. Tighten all of the screw.
+15. Next mount the remailing 2 idler bearing plates onto the end plates. This requires 4 M3-20 hex socket head cap screws. Each screw will require a flat washer on the head side and a flat washes, spring lock washer and nut on the opposite side. With the end plate back facing away from you place the screw heads to your right. Tighten all of the screws.
+16. Onto each of the M8 rods thread a M8 nut followed by a flat washer to about 160mm from the left end plate.
+17. Slide on the center idler plate followed by a M8 flat washer, spring lock washer and nut on each rod. Adjust the nuts, one rod at a time, starting with the left nut such the center plate is 170mm from the left end plate. Once the left nut and washer are holding the plates 170mm apart tighten nut, washer and spring lock washer on the right side. Repeat this process with each rod.
+
+18. Use a M3-30 hex socket head cap screw with a flat washer on the head side and a flat washes, spring lock washer and nut to attach the idler side brace to the center idler plate bearing plate and tighten.
+19. Next tighten the nuts on the front M8 rod around the idler side brace.
+20. If you are building the original SphereBot configuration slide onto the back rods the Arduino Uno mount for Glasswalkers Revised Fully Printable Eggbot by MarkBenson. The holes seperated by the larger distance go on to the top rod with the flat side facing away from the front. If you are building V2 with the touch display slide one of the LCD mounts onto the back rods with the mounting slant up. Next thread on to both back rods a M8 nut followed bu a spring lock washer and flat washer about 40mm from the end of the rod. Then slide the other LCD mount onto the back rods with the mounting slant up.
+21. Onto all 3 rods thread a M8 nut followed by a flat washer to about 70mm from the center idler plate.
+22. Slide on the right idler plate and adjust the nut on each rod such that the right end idler plate is 85mm away from the center idler plate.
+23. On the bottom 2 rods slide the remaining leg truss followed by a M8 flat washer, spring lock washer and cap nut. If the inside distances between the end plates is correct (170mm, 85mm) there should be about 8-10mm on rod remaing with the leg truss in place and the cap nut will tighten with 3-4 turns.
+24. After confirming that the inside distances between the end plates is correct (170mm, 85mm) on the top rod you will want to trim the rod with either a dremel tool or hacksaw such that abot 10mm remains past the end plate. Then add a M8 flat washer, spring lock washer, cap nut and tighten.
+
+25. *To be completed in the a future release.*
## Document History
Date | Author | Change Summary
--- | --- | ---
-9/3/2022 | Terence Golla | Document Created
\ No newline at end of file
+9/3/2022 | Terence Golla | Document Created
+12/13/2022 | Terence Golla | Completed bill of materials.
+12/17/2022 | Terence Golla | Updating assembly instructions.
+2/4/2022 | Terence Golla | Updating assembly instructions with images.
\ No newline at end of file
diff --git a/Documentation/Assembly.pdf b/Documentation/Assembly.pdf
new file mode 100644
index 0000000..16f4961
Binary files /dev/null and b/Documentation/Assembly.pdf differ
diff --git a/Documentation/Configuration.md b/Documentation/Configuration.md
index 89564b8..cb3eb84 100644
--- a/Documentation/Configuration.md
+++ b/Documentation/Configuration.md
@@ -125,6 +125,9 @@ The ```PEN_AXIS_PORT``` directive sets the pen arm stepper motor port. Port 1 is
## ROTATION_AXIS_PORT 2
The ```ROTATION_AXIS_PORT``` directive sets the rotation stepper motor port. Port 1 is the M1 & M2 terminals. Port 2 is the M3 &