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1. Test of the code
2. PCBs assembly
3. Manufacturing of the mechanic parts
4. Assembly of the robot

Test of the code

To facilitate debugging, we first tested the .ino codes on breadboards. Indeed, test the  
code for the first time on the fully assembled robot can cause bad surprises. Each part of  
the code has been separately tested on an assembly which had the good electronic  
components. One of the tests can be found here (test of the potentiometer and the leds on  
the breadboard) while an other one is shown just below.
Test of the two steppers on the breadboard
PCBs assembly

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Manufacturing of the mechanic parts

As the Eagle boards were made (see here), both PCBs have been produced:
We started with the small PCB because there are fewer  
components to place and therefore the risk of errors was  
lower. it was the first time that we soldered, the result was  
So we weld the second PCB. The first step was to place the jumps. It was not easy because
they were small. But despite the slight melting of insulation, the welds are good and it is the
most important.
The two techniques chosen to manufacture the parts of our robot were the laser cutter and  
the 3D printing. We used the laser cutter for the external case (MDF) and for the support of  
the solenoid (plexiglas) while we used the 3D printing for the seven pieces which adjust the  
tension of the belts. See Technical Details - Mechanics model for more details.
To use this type of equipment, we went to the Brussels Fablab. One video of each  
technique and a picture of one of our 3D printed pieces can be found just below.
So we had to solder the electronics  
components on the boards at the right places.  
We also had to pay attention to make correct  
soldering, as shown on Figure, in order to  
avoid connection or fragility problems.
Once the jumps were placed, we tested, using a multimeter, if there were short-circuits.  
Since there was none, we were able to place the rest of the components with two extra  
radiators to cool the power chips.
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3D Printing @ Brussels Fablab
Laser Cutter @ Brussels Fablab
Test of the partly assembled robot
Assembly of the robot

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One of our 3D printed pieces
Step 1 Step 1 Step 2 Step 2 Step 3 Step 4
Step 4 Step 5 Step 6 Step 6 Step 7 Step 7
Step 7 Step 7 Step 7 Step 8 Step 8 Step 8
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Once all the pieces were available, we proceed to the assembly of our robot following this  
Step 1
Mounting the bottom of the box  
with two side portions and  
assembly of one motor and two  
3D pieces.

Step 2
Mounting the PCB on the bottom  
of the box.

Step 3
Assembly of three 3D pieces on a  
side portion.

Step 4
Assembly of the background and  
the PVC tubes.
Step 5
Assembly of the third side  
portion with the box.

Step 6
Assembly of the second motor  
and the last two 3D pieces.

Step 7
Placing the belts and the support  
for the solenoid.

Step 8
Assembly of the small PCB on the  
last side portion and closing the  
This sequence is illustrated by the Mounting sequence gallery:
Mounting sequence
We also performed various tests during installation to check that everything was working as
expected. One of these tests is available in the video just below: we were testing the
functioning of the motors with the belts.
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