Hardware Assembly Guide

Solder Your PARTS CRP Board

Soldering the PARTS CRP board is the first crucial step. Follow the instructions carefully to ensure a successful setup.

  • Interactive BOM: Utilize the Interactive BOM for an easier soldering process.

  • Headers for Connectivity: We recommend using headers for connections between boards. This makes disassembly possible if needed.

    • Use female (socket) headers on the bottom board.

    • Use male (pin) headers on the top board. These are typically included with all breakout boards.

  • MOSFET Orientation: Ensure the correct orientation of the MOSFETs during soldering.

  • Resistor for Battery Voltage Divider: Choose the resistor based on your battery choice:

    • Use a 2M ohm resistor (R1) for 6 AA batteries.

    • Opt for a 3M ohm resistor if using higher voltage batteries like 2 LiPo batteries.

    • Install a >100 pf capacitor across R2 to address voltage drop issues.

  • Teensy Board Modification: For battery power, cut the trace on the Teensy board. Refer to the note “Cut to separate VIN from VUSB” on the Teensy 4.0 Back Side image.

  • Resistor Values: The values of R4, R5, R8, R9 depend on your specific usage. For I2C, 4.7k is appropriate.

  • Schematic: Refer to the Main Schematic for detailed understanding.

Solder Accessories

Solder accessories like the Inertial Measurement Unit (IMU), ensuring proper orientation and connection.

Assemble the Pololu Romi Chassis

The Pololu Romi Chassis forms the physical structure of your robot.

Starting with the Basic Test

Flash the Teensy 4.0 Board: Begin by flashing the Teensy 4.0 board with the basic test code found in the repository at /firmware/basic_test/basic_test.ino. This initial test is crucial for validating your setup.

Expected Behavior: Upon successful flashing, the robot should exhibit a simple behavior pattern: moving forward, pausing, and then moving backward.