uci rescue robotics - university of california, irvinejkrichma/abr/ground_robot_manual...uci rescue...

UCIRescueRobotics

2015-2016

GroundRobotManual

1UCIRescueRobotics2014-2015-Groundrobotmanual

I. CHANGESFROM2014-2015

• Android with Eclipse is no longer supported with recent IOIO libraries. Consider switching toAndroidStudio

• A new IOIO library (5.06/5.05) has been released as a release candidate. Use this version or5.00/5.04.

• Some Bluetooth dongles may not work with the IOIO. Dongles listed athttps://github.com/ytai/ioio/wiki/Supported-Bluetooth-Dongles will work for certain.

II. DO'SANDDON'TS

Donot:• Block/hold the motors or servos when they are running/turning. This will damage the

motors/servosandtheelectronics.• Control the robot tomove from full speed inonedirection to full speed in theother.Thiswill

damagethemotorsandtheelectronics.

Do:• Checkthemax(peak,stall…)currentandoperatingvoltageforeachelectronicdeviceyouuse.• Checkallthewireconnectionsbeforepluggingthebatteryandpoweringtherobot


III. PREREQUISITE

Participantsshouldhave:

• Computer/laptop(WindowsorMacpreferred)• Androidphone(withAndroid>2.2preferred)• USBcabletoconnectphonetolaptop

Participantsshouldhavedownloadedontheircomputer:

1. AndroidSDK(AndroidStudio,nolongerEclipse)(http://developer.android.com/sdk/index.html)

2. AlltheAndroidtoolsandAndroidAPIs(e.g.Android4.4.2…).ThismighttakeacoupleofhoursSomepackagesmightnotgetinstalledbutthat’sok.(http://developer.android.com/sdk/installing/adding-packages.html)

3. ThelatestIOIOlibraries(ClientSoftware,5.06/5.05:App-IOIO0505.zip)https://github.com/ytai/ioio/wiki/Downloads


IV. PARTS

1. DaguWildThumper6WDAll-TerrainChassis,Black,75:1,(QTY:1)This rugged, 6-wheel-drive chassis from Dagu Electronics is designed to excel at traversing roughterrainandsteepinclines,makingitagreatplatformforanyrobotthatneedstoperformtasksinacomplexoutdoorenvironment.ItfeaturessixpowerfulDCmotorswithbrassbrushesand75:1steelgearboxesandaunique“super-twist”suspensionsystemactstokeepeachwheelincontactwiththeground formaximumtraction,evenwhendrivingoverunevenorbumpysurfaces.The suspensioncanbeadjustedtosuitdifferentloadsandconditions.Thechassis’aluminumplatehas4mmholesspacedevery10mm,providingplentyofoptionswhenitcomestomountingyourcontrolelectronics,sensors,andadditionalhardware,andwithamaximumrecommendedpayload of 5 kg (11 lb). This is a differential-drive chassis,meaning that turning isaccomplishedbydrivingthemotorsonthetwosidesoftheplatformatdifferentspeeds.Thethreemotorsoneachsideoftherobotarewired inparallel,soonly twochannelsofmotor controlarerequired to get this chassis moving. Themotors are intended for a maximum nominal operatingvoltageof7.2V(2Vminimum),andeachhasastallcurrentof6.6Aandano-loadcurrentof420mAat7.2V.Note:themotorswillbrieflydrawthefullstallcurrentwhenabruptlystartingfromrest(andnearlytwice the stall current when abruptly going from full speed in one direction to full speed in theother…SODONOTDOTHIS!Themaxcurrentwouldbe6.6Ax2x3motors=39.6Aperchannel).Controllingtherobotthiswaywoulddamagethemotorsandtheelectroniccomponents.

http://www.pololu.com/product/1563


2. MotorcontrollerRoboClaw2x30A,(QTY:1)TheRoboClawmotorcontrollersfromOrionRoboticscancontrolapairofbrushedDCmotorsusingUSB serial, TTL serial, RC, or analog inputs. Integrated dual quadrature decodersmake it easy tocreateaclosed-loopspeedcontrolsystem.Thisversioncansupplyacontinuous30Aperchannel(60Apeak).


3. Switchesa. WildThumperHighPowerSwitch,(QTY:1)

Batteryvoltage:6V-20VCurrentrating:10Acontinuous-NoheatsinkCurrentrating:30Acontinuous-Chassisusedasheatsinkwithheattransfercompound.Currentrating:60Acontinuous-Heavydutyheatsink,fanandheattransfercompound.

http://www.jameco.com/1/1/7399-rs003hp-wild-thumper-high-power-switch.html

b. IlluminatedToggleSwitchOn/Off(Red),(QTY:1)ToggleSwitchandCover-Illuminated(Red),ratedfor12V20A,includesMissileSwitchCover.

http://www.robotshop.com/en/illuminated-toggle-switch-red.html


4. DuratraxNiMHOnyx7.2V5000mAhStickStandardPlug,(QTY:2)

http://www.amazon.com/Duratrax-NiMH-5000mAh-Stick-Standard/dp/B004AF88K0/ref=sr_1_cc_1?s=aps&ie=UTF8&qid=1414970891&sr=1-1-

catcorr&keywords=DuraTrax+NiMH+Onyx+7.2V+5000mAh

5. DuratraxOnyx200AC/DCSportPeakCharger,(QTY:1)

http://www.amazon.com/Duratrax-Onyx-Sport-Peak-Charger/dp/B001BCF4YS/ref=sr_1_1?s=toys-and-games&ie=UTF8&qid=1414971105&sr=1-1&keywords=DuraTrax+Onyx+200

6. IOIO-OTG,(QTY:1)

AreyouaJavadeveloper lookingtoaddadvancedhardwareI/OcapabilitiestoyourAndroidorPCapplication? Well then the IOIO-OTG is for you! The IOIO-OTG (pronounced “yo-yo-O-T-G”) is adevelopmentboardspeciallydesignedtodojustthat.ItfeaturesaPICmicrocontrollerwhichactslikeabridgethatconnectsanapponyourPCorAndroiddevicetolow-levelperipheralslikeGPIO,PWM,ADC, I2C, SPI, and UART. An app-level library helps you write control code for these low levelperipheralsinthesamewayyou’dwriteanyotherJavaapp!TheIOIO-OTGhastwoon-boardvoltageregulators: a switching regulator that can take5V-15V input andoutputs up to 3Aof stable 5V, alinearregulatorthatfeedsoffthe5Vlineandoutputsupto500mAofstable3.3V

https://www.sparkfun.com/products/11343


7. ArduinoMEGAADKR3,(QTY:1)TheArduinoADKisamicrocontrollerboardbasedontheATmega2560(datasheet).IthasaUSBhostinterface to connect with Android based phones, based on the MAX3421e IC. It has 54 digitalinput/outputpins(ofwhich14canbeusedasPWMoutputs),16analoginputs,4UARTs(hardwareserialports),a16MHzcrystaloscillator,aUSBconnection,apowerjack,anICSPheader,andaresetbutton. The ADK is based on theMega 2560. Similar to theMega 2560 and Uno, it features anAtmega8U2programmedasaUSB-to-serialconverter.

http://www.amazon.com/Arduino-MEGA-ADK-R3-Android/dp/B007BT37BC

8. SatechiUSB4.0BluetoothAdapter,(QTY:1)

http://www.amazon.com/Satechi-Bluetooth-Adapter-Windows-compatible/dp/B008BC1U4O/ref=sr_1_3?s=electronics&ie=UTF8&qid=1414969497&sr=1-

3&keywords=bluetooth+dongle

9. Prototypingplate:DFRobot17cmx15cmPrototypingPlateorDFRobot2WDMobilePlatformExpansionPlate,(QTY:1)Includes:M3screwset(30units),M3*10HexagonalCopperstandoffs(10units),M3*20HexagonalNylonstandoffs(10units),M3*50HexagonalNylonstandoffs(10units)

http://www.robotshop.com/en/dfrobot-prototyping-plate.htmlhttp://www.robotshop.com/en/dfrobot-2wd-expansion-plate.html


10. MaxSonarEZ0UltrasonicRangeFinder,(QTY:4)TheLVMaxSonarEZ0offersvery short to long-rangedetectionand ranging, inan incredibly smallpackagewithultralowpowerconsumption.TheLVMaxSonarEZ0detectsobjectsfrom0-inchesto254-inches(6.45-meters)andprovidessonarrangeinformationfrom6-inchesoutto254-incheswith1-inch resolution. Objects between 0-inches and 6-inches range as 6-inches. The interface outputformats included are pulse width output, analog voltage output, and asynchronous serial digitaloutput.TheEZ0offersthemostsensitivityoftheMaxSonarProductline,yieldingacontrolledwidebeamwithhighsensitivity.

http://www.superdroidrobots.com/shop/item.aspx/lv-maxsonar-ez0-ultrasonic-range-finder/830/

11. SingleMaxBotixSonarServoArmBracket,(QTY:4)

http://www.superdroidrobots.com/shop/item.aspx/single-maxbotix-sonar-servo-arm-bracket/1644/

12. HS-485HBServo,(QTY:2)• Speed(sec/60o):0.20(4.8V),0.17(6V)• Torque(Kg-cm/Oz-in):5.2/72(4.8V),6.4/89(6V)• Size(mm):39.9x19.8x37.9• Weight:45g/1.59oz

http://www.robotshop.com/en/hitec-hs-485hb-servo-motor.html


13. SPT200DirectDrivePan&TiltSystem,(QTY:1)CanuseanystandardsizeHitecservo.Perfectforcamerasorsensorsupto2lbs.

http://www.robotshop.com/en/servocity-spt200-pan-tilt.html

14. DirectDrivePanBaseMountforSPT200,(QTY:1)

http://www.robotshop.com/en/direct-drive-pan-base-mount-spt200-or-ddp125.html

15. RetiCAM®SmartphoneTripodMount,(QTY:1)

http://www.amazon.com/RetiCAM%C2%AE-Smartphone-Tripod-Mount-Universal/dp/B00FS5L9D4/


16. Wires/connectors(22AWGcircuit,14AWGpower/motors)a. WireswithPre-crimpedTerminals50-PieceRainbowAssortmentFemale-Female6",(QTY:1)


b. WireswithPre-crimpedTerminals50-PieceRainbowAssortmentMale-Female6",(QTY:1)


c. StrandedWire:White,Black,Red,22AWG,50Feet,(QTY:1eachcolor)

http://www.pololu.com/product/2649http://www.pololu.com/product/2640http://www.pololu.com/product/2642

d. 0.100"(2.54mm)BreakawayMaleHeader:1x40-Pin,Straight,(QTY:2)


e. 0.1"(2.54mm)CrimpConnectorHousing:1x1-Pin25-Pack,(QTY:4)



f. FemaleCrimpPinsfor0.1"Housings100-Pack,(QTY:1)


g. JRConnectorPack,Male,(QTY:4)


h. JRConnectorPack,Female,(QTY:4)


i. TwistedServoExtensionCable12"Female-Female,(QTY:2)



j. TwistedServoExtensionCable12"Male-Female,(QTY:7)


k. GrandGeneralRed,Black,14-GaugePrimaryWire,(QTY:1eachcolor)

http://www.amazon.com/Grand-General-55241-14-Gauge-

Primary/dp/B00INVEUP4/ref=pd_bxgy_auto_text_yhttp://www.amazon.com/Grand-General-55240-14-Gauge-

Primary/dp/B00INVEUNQ/ref=pd_bxgy_auto_text_y

l. TamiyaPlugwith10cmLeads,Female,14AWG(QTY:2)



V. GENERALDESIGN


Figure1.Possiblesetupofthedifferentcomponentsofthegroundrobot.Schematicnotdrawntoscale.Thicklinesare14AWGwires,thinlinesare22AWGwires.

Ultrasonicsensor(sonar1)

Servo-pan

Servo-tilt




IOIOOTG

Vin 3.3V

GND

GND

Vin

5

6

4342

43

44

45

Wildthumpermotors(left)

Motorcontroller-RoboClaw

Battery

SwitchWildthumpermotors(right)

M1A M1B + - M2AM2B

S1 S2+(5V) -


1. PowersupplyThebattery isconnectedtotheswitchusingtheTamiyaPlug, inordertoprovidepowertothemotorcontroller (+ -).Use 14AWGwires to connect the switch to theRoboClawmotor controller.Multiplebatteriescanbewiredinparallelforhigherautonomy.The leftandrightmotorsareconnectedtothescrewterminals (M1A,M1B,M2A,M2B).Use14AWGwirestoconnectmotorstomotorcontroller.Themotorcontrollercanprovidepower (5V/3A) to the IOIOandservos,using its internalBECand itsencoder power pins. You need tomake sure the jumper is on LB-MB (see documentation RoboClawmotorcontroller).Onthemotorcontroller, thepositiveencoderpowerpin (+) is locatedat theboardedgeandsupplies+5VDC.Theground(-)pinisneartheheatsink.The+pinisconnectedtoVinontheIOIO,andthe–pinisconnected to a ground (GND) pin on the IOIO. Use 22 AWGwires to connect the IOIO to themotorcontroller.Theservosofthepanandtiltunitarealsopowereddirectlyfromthemotorcontroller.ThiscanbedonebyconnectingtheblackwireofaservotoaGNDpinontheIOIO,andtheredwireofaservotoaVinpinoftheIOIO(thereforetheIOIOandtheservoswillbepoweredinparallel).Thesonarsarepoweredby3.3VgeneratedbytheIOIO.Thereareonlythree3.3VpinsontheIOIOsoyouwillneedaYconnectortopowertwosonarsinparallelfrom1pin.Connectthe3.3VoftheIOIOtothe+5pinonthesonars(accepts2.5Vto5.5V),andtheGNDpintotheGNDpin.Ifnecessary,youcanpowerthemotorcontrollerandtheIOIOseparatelyusingtwobatteries(methodnotdescribedhere).

2. ControllingthemotorsTheyaredifferentwaystocontrolthemotors(seedocumentationmotorcontroller).ThesimplestwayistosendPWMsignalstothemotorcontrollerI/OpinsS1andS2.ThemotorcontrollerhastobesetonRCmode or RC mode with mixing (see documentation to change mode). In RC mode, S1 controls thedirectionandspeedofmotor1andS2controlsthespeedanddirectionofmotor2.Thisdrivemethodissimilar to how a tank is controlled. In RCmodewithmixing, S1 controls speed and direction of bothmotors1and2.S2controlssteeringbyslowingoneofthemotors.Thisdrivemethodissimilartohowacarwouldbecontrolled.RoboClawexpectsPWMpulses(50Hz)onS1andS2todrivethemotorswhenthemodeissettobothRCmodes.Thecenterpointsarecalibratedatstartup.Apulsewidthof1000usisthedefaultforfullreverseand2000usisthedefaultforfullforward.


Connect the I/O pins S1 and S2 to the IOIO pins used as digital PWM outputs (e.g. 3, 4, seedocumentation IOIO OTG), using 22AWG wires. The pins closest to the board edge on the motorcontrolleraretheI/Os,centerpinisthe+5Vandtheinsidepinsareground.

3. Controllingtheservos

TheservosarealsocontrolledbyPWMsignals(50Hz).Connecttheyellow/whitewiretotheIOIOpins5and 6 using 22AWGwires. Certain IOIO pins (e.g. 5 and 6) can be used as digital PWMoutputs (seedocumentation IOIO OTG). Usually, a pulse width of 1000us turns the servo completely to the left,1500uscenterstheservo,and2000msturnstheservocompletelytotheright.

4. FindingdistancesfromsonarsTherearedifferentwaystoreaddatafromthesonars(seeMaxbotixonlinetutorialsanddocumentation).Theinterfaceoutputformats includedarepulsewidthoutput,analogvoltageoutput,andRS232serialoutput.ThesimplestwayistoreadananalogvoltagefromtheANpinofthesonars.Todoso,connecttheANpinofthesonarstotheIOIOpinsusedasanaloginputs(e.g.42,43,44,45).Inordertofindtherangeininches,youwillneedtoconvertthevoltagethefollowingway:First,calculatethescalingfactor:Vi=Vcc/512WithVi:Voltsperinch(Scaling),Vcc:SuppliedVoltageHere,Vccis3.3Vso:Vi=3.3V/512=0.0064453125VperinchOnceyouknowthevoltagescalingitiseasytoproperlycalculatetherange.Therangeformulais:Ri=Vm/ViWithRi:Rangeininches,Vm:MeasuredVoltagefromtheANpin,Vi:VoltsperInch(Scaling)Sowehave:Ri=Vm/0.0064453125VTogetmoreaccuratemeasurement,youmightwant touse thePWoutputof thesonars (sendsPWMsignal).YoucanconnectthePWpinofasonartoadigitalpulseinputontheIOIO(seedocumentation).


VI. TESTINGCOMPONENTS

A. Hardware1. Screwstandoffstolowerpartofprototypingplate

2. mountthehighpowerswitchontheplate

3. mountthemotorcontrollerontheplate


4. mounttheIOIOontheplate

5. mountasonarontheplate(assembleitfirst)


6. screwtheTamiyaconnector/wiretothepowerswitch:IN+(red)and–(black)

7. Use14AWGwirestoconnecttheswitchtothemotorcontroller:OUT(+-)tocontroller(+-)

8. Use22AWGwireswithpre-crimpedterminalstoconnect:• Themotorcontroller(encoderpower+-)totheIOIO(Vin,GND)usingfemale-femalewires


• AsonartoIOIO(3.3V,GND,analogpin40),usingfemale-femalewires

• AHS-485HBservototheIOIO(5V,GND,PWMpin5),usingmale-femalewires


9. PlugbatterytoTamiyaconnector(switch)

10. Turnswitchon:checkiftheLEDsofthemotorcontrollerandtheIOIOarelit.


B. Software1. Quickintroductiontoobjectorientedprogramming(ifnecessary)

Inheritance:

2. IntroductiontoAndroidactivity

Inheritclass:extends

Inheritinterface:implements

Overridefunction:@Override


3. OpenAndroidStudio

• Chooseworkspacelocation(e.g.whereyoucopiedtheIOIOlibraries)

4. ImportIOIOlibrariesandprojects

5. OpenIOIOSimpleAppproject• DescriptionofthedifferentAndroidprojectfiles• DescriptionoftheIOIOSimpleAppactivityandIOIOlibrary(PWMoutput,analoginput)

6. ModifytheIOIOSimpleAppactivitytoreadananalogvaluefromthesonarandcontroltheservo

connectedtotheIOIO.Displaytheactualrangeininchesdetectedbythesonar.

7. Ifthereistime:• explaindifferentmodesofmotorcontroller(seeRoboClawdocumentation)• ChooseRCmode• Mountplateonrobot• Connectthemotorstothecontrollerusing14AWGwires• Modifytheappthecontrolthemotorsusingtheslider/seekbar

Formoreexamples,goto:

• https://github.com/UCI-ABR

• SearchforIOIOtutorials/examplesonline


VII. DOCUMENTATION

Androidbasedrobotics

• http://www.socsci.uci.edu/~jkrichma/ABR/• https://groups.google.com/forum/?hl=en#!forum/android-based-robotics• https://github.com/UCI-ABR

Android

• http://developer.android.com/about/index.html• http://developer.android.com/sdk/index.html• Tonsoffreetutorialsandonlinecourses(Coursera…)

IOIOOTG

• https://github.com/ytai/ioio/wiki• https://groups.google.com/forum/#!forum/ioio-users• https://www.sparkfun.com/tutorials/280• https://github.com/ytai/ioio/wiki/Supported-Devices• Also,takealookat:IOIOScript,Protocoder,B4A(BasicforAndroid)forprogramming

ArduinoMEGAADKR3

• http://developer.android.com/tools/adk/index.html

SonarsLVMaxSonarEZ0:

• http://www.maxbotix.com/documents/MB1000_Datasheet.pdf• http://www.maxbotix.com/tutorials.htm

Robotchassis(WildThumper6WD):

• https://www.dropbox.com/s/k37afb8v6qr3ly5/4WD%206WD%20short%20manual.pdf?dl=0

Highpowerswitch

• http://www.jameco.com/Jameco/Products/ProdDS/2150521.pdf• http://letsmakerobots.com/content/high-power-switch

Motorcontroller(RoboClaw2x30A):

• http://downloads.orionrobotics.com/downloads/datasheets/roboclaw_user_manual.pdf• http://www.pololu.com/product/2393

ComputervisionlibrariesforAndroid

• http://opencv.org/platforms/android.html• https://developer.qualcomm.com/mobile-development/add-advanced-features/computer-vision-fastcv

ROSAndroid

• http://wiki.ros.org/android


VIII. PARTSLIST

Parts/Items Unitprice Quantity TotalPrice Vendorlink

DaguWildThumper6WD75:1 250 1 250 http://www.pololu.com/product/1563

RoboClaw2x30AMotorController 124 1 124 http://www.pololu.com/product/2393

TamiyaPlugwith10cmLeads,Female14AWG 1.49 2 2.98 http://www.pololu.com/product/2172

WireswithPre-crimpedTerminals50-PieceRainbowAssortmentF-F6" 9.95 1 9.95 http://www.pololu.com/product/1800

WireswithPre-crimpedTerminals50-PieceRainbowAssortmentM-F6" 9.95 1 9.95 http://www.pololu.com/product/1801

StrandedWire:White,22AWG,50Feet 5 1 5 http://www.pololu.com/product/2649

StrandedWire:black22AWG,50Feet 5 1 5 http://www.pololu.com/product/2640

StrandedWire:red22AWG,50Feet 5 1 5 http://www.pololu.com/product/2642

0.1"(2.54mm)BreakawayMaleHeader:1x40-Pin,Straight 1 2 2 http://www.pololu.com/product/965

0.1"(2.54mm)CrimpConnectorHousing:1x1-Pin25-Pack 0.6 4 2.4 http://www.pololu.com/product/1900

FemaleCrimpPinsfor0.1"Housings100-Pack 6 1 6 http://www.pololu.com/product/1930

JRConnectorPack(3connectors),Male 3 4 12 http://www.pololu.com/product/1925

JRConnectorPack(3connectors),Female 2 4 8 http://www.pololu.com/product/1924

TwistedServoExtensionCable12"Female-Female 2.75 2 5.5 http://www.pololu.com/product/2166

TwistedServoExtensionCable12"Male-Female 2.75 7 19.25 http://www.pololu.com/product/2169

ArduinoMEGAADKR3forAndroid 48.05 1 48.05 http://www.amazon.com/Arduino-MEGA-ADK-R3-Android/dp/B007BT37BC

bluetoothdongle 11 1 11http://www.amazon.com/Satechi-Bluetooth-Adapter-Windows-compatible/dp/B008BC1U4O/ref=sr_1_3?s=electronics&ie=UTF8&qid=1414969497&sr=1-3&keywords=bluetooth+dongle

RetiCAM®SmartphoneTripodMount 25 1 25 http://www.amazon.com/RetiCAM%C2%AE-Smartphone-Tripod-Mount-Universal/dp/B00FS5L9D4/

DuraTraxNiMHOnyx7.2V5000mAh 35 2 70http://www.amazon.com/Duratrax-NiMH-5000mAh-Stick-Standard/dp/B004AF88K0/ref=sr_1_cc_1?s=aps&ie=UTF8&qid=1414970891&sr=1-1-catcorr&keywords=DuraTrax+NiMH+Onyx+7.2V+5000mAh

DuratraxOnyx200AC/DCSportPeakChargerNiMHbat. 45 1 45

http://www.amazon.com/Duratrax-Onyx-Sport-Peak-Charger/dp/B001BCF4YS/ref=sr_1_1?s=toys-and-games&ie=UTF8&qid=1414971105&sr=1-1&keywords=DuraTrax+Onyx+200

redwire14AWG 6.49 1 6.49 http://www.amazon.com/Grand-General-55241-14-Gauge-Primary/dp/B00INVEUP4/ref=pd_bxgy_auto_text_y

blackwire14AWG 6.49 1 6.49 http://www.amazon.com/Grand-General-55240-14-Gauge-Primary/dp/B00INVEUNQ/ref=pd_bxgy_auto_text_y

PrototypingPlate 12 1 12 http://www.robotshop.com/en/dfrobot-prototyping-plate.html

servoHitecHS-485HB 17 2 34 http://www.robotshop.com/en/hitec-hs-485hb-servo-motor.html

SPT200DirectDrivePan&TiltSystem 46 1 46 http://www.robotshop.com/en/servocity-spt200-pan-tilt.html

SPT200basemountwithspacers/standoffs 12 1 12 http://www.robotshop.com/en/direct-drive-pan-base-mount-spt200-or-ddp125.html

powerswitch 2.95 1 2.95 http://www.robotshop.com/en/illuminated-toggle-switch-red.html

maxbotixsonar(LVMaxSonarEZ0) 30 4 120 http://www.superdroidrobots.com/shop/item.aspx/lv-maxsonar-ez0-ultrasonic-range-finder/830/

sonarsmount 6 4 24 http://www.superdroidrobots.com/shop/item.aspx/single-maxbotix-sonar-servo-arm-bracket/1644/

IOIOOTG 40 1 40 https://www.sparkfun.com/products/11343

HighPowerSwitch 18.51 1 18.51 http://www.jameco.com/1/1/7399-rs003hp-wild-thumper-high-power-switch.html

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