Vorpal The Hexapod Assembly Instructions

BILL OF MATERIALS (BOM) FOR VORPAL H12 HEXAPOD

ROBOT BOM

• Electronics:
  • Beeper and 3 wire Beeper cable
  • Arduino Nano (marked R to indicate it is pre-loaded with robot software)
  • Potentiometer with 3 wires pre-soldered
  • 1 x HC06 BlueTooth Module with 4 x F-F jumper wires for making connections (Note: the HC05 has six pins but only four are used in this project)*** 1 x Servo Controller module with F-F jumper wires for making connections, plus 1 two-pin shunt
  • 12 x MG90 micro servo motors and associated servo horns
• 3D Printed Parts:
  • 1 x Chassis
  • 1 x Top
  • 6 x Legs
  • 1 x Switch bracket
  • 6 x Servo braces
  • 1 x Electronics Caddy
  • 1 x Stand
  • 1 x Eye/glasses Decoration
  • 1 x Joust accessory
• Miscellaneous:
  • 4 x 10mm diameter ceramic magnet, north pole marked. 3 are for robot top, 1 for eye/glasses decoration
  • 12 x socket head cap screw, 2.5mm diameter by 8mm long
  • 2 x #6-32 x 1/2" screw to fasten on/off switch bracket
  • 1 x L shaped hex driver for both kinds of screw

GAMEPAD BOM

• Electronics:
  • 1 x Battery/Switch Wiring Unit. (Note: the gamepad requires no BEC so you can use this fact to distinguish from the robot wiring unit)
  • 1 x four by four button matrix with associated connecting wires
  • 1 x Dpad Button module with associated connecting wires
  • 1 x HC05 Bluetooth module and four wires to connect it
  • 1 x Ardunio Nano (marked "C" to indicate it is pre-loaded with Controller software)
• 3D Printed Plastic Parts:
  • 1 x Gamepad base plastic part
  • 1 x Gamepad top plastic part
  • 1 x Gamepad button matrix cover
  • 1 x Switch Adapter
• Fasteners:
  • 4 x #6-32 x 1/4" screw for button matrix cover
  • 4 x #6-32 x 1/2" screw for Dpad button module
  • 4 x #6-32 x 1" screw to hold cover on gamepad

Electrical Connections: Robot

NANO PIN CONNECTIONS

• D2 Bluetooth Module Rx
• D3 Bluetooth Module Tx
• D4 Beeper Signal (white wire)

• A0 Potentiometer signal (white wire)
• A1 Potentiometer Power (red wire)
• A2 Potentiometer Ground (black wire)

• A4 Servo Controller SDA
• A5 Servo Controller SCL

• VIN From Battery positive (the red Dupont connector coming off near the switch on the wiring module)
• GND From Battery negative (the black Dupont connector coming off the battery black wire)

IMPORTANT NOTE: The red Dupont connector must go to VIN and never +5V because the battery voltage is much higher than +5 volts. You will more or less instantly destroy your Nano if you put unregulated battery power directly into the +5V pin. The VIN pin has its own voltage regulator. The +5V pin on the Nano will be used to provide regulated power to the Bluetooth module.

Bluetooth Module Power

• V+ From the Nano +5V pin
• GND From either Nano GND pin

Beeper Power

• Connect the beeper V+ and GND pins to Port 14 of the Servo Controller, matching black and red wires to black and red pins on the Servo Controller.

Servo Controller

• Connect the 12 servos to port numbers corresponding to the servo marking (0 to 11). Make sure the signal wire (yellow) is oriented correctly.
• Connect the switch/battery module output to an unused servo port power and ground. Make sure the red wire is going to VCC and black wire to GND.
• On one short end you will find a VCC and VIN pin right next to each other. Use a shunt to connect those together. Both the servos and logic will run at +5V from the UBEC on the switch/battery module.
• SDA and SCL go to A4 and A5 on the Nano, respectively.

Electrical Connectons: Gamepad

NANO PIN CONNECTIONS

• D2 through D9 are connected to the button matrix pins.Looking from the top of the button matrix module, the rightmost button matrix pin goes to D9, second to right to D8, etc.
• D10 HC05 Tx
• D11 HC05 Rx
• A1 Dpad Signal (white wire)
• A2 Dpad VCC (red wire)
• A3 Dpad GND (black wire)
• VIN battery/switch positive (red wire)
• GND Either ground on the Nano goes to the battery/switch negative (black wire)

GAMEPAD: Screw Sizes

• Matrix button cover, 1/4" #6-32 screws (4)
• Yellow dpad buttons, 1/2" #6-32 screws (4)
• Gamepad Cover, 1" #6-32 screws (4)