Create

Lasercuting Little Endian baseplate

To create the Little Endian baseplate, begin by downloading the .scad file for the design here.

Here's your step-by-step guide:

Open the .scad File in OpenSCAD: Use OpenSCAD to open the existing .scad file containing your design.
Review and Adjust: Check if the 3D model is accurate for laser cutting. Modify it if needed—adjust size, scale, or shapes.
Export as a 2D File: Export the modified design as a 2D file (like DXF or SVG) suitable for laser cutting.
Import into Laser Cutting Software: Import this 2D file into the laser cutter's software, ensuring correct size and orientation.
Set Cutting Parameters: Configure cutting settings—speed, power, etc., matching the material and thickness.
Start Cutting: Place the material on the cutter, follow safety instructions, and start the cutting process.
Check Quality: Inspect the cut pieces for accuracy and quality.

Alt text

Brackets for the stepper motors

Creating Secure Mounts for Stepper Motors

Mounts were designed for the draw bot to securely attach the stepper motors to the frame. These motor holders were initially designed using Fusion 360 and then crafted using a 3D printer (Creality Ender 3 Pro). Tough PLA from FormFutura was utilized during the 3D printing process.

Design Process Overview

Mounting Considerations

During the design phase, the primary focus was on determining the best method to mount the motors securely onto the frame. The decision was made to create a clamping system (refer to the picture below). Mounted bracket

Prototyping Different Versions

To design the bracket, several versions were 3D printed (See picture below). Initially, three different versions (Left side in the picture) were printed to refine the click system. Subsequently, a version was printed to encase the motor (Right side in the picture), and these components were combined.

design proces

Improving the Design

Although the initial design was functional, there was room for improvement to create a sturdier construction. This was achieved by slightly increasing the height of the motor component by 2mm (see picture below). Improved bracket side view Improved bracket mounted to the base

Files

Generating fiducial markers

This guide will help you generate ArUco markers using Python. ArUco markers are unique patterns used to track the little endian's. With the provided code, you can easily create these markers either individually or in bulk.

Step-by-Step Marker Generation

Setup:

Make sure you have Python installed.
Install OpenCV by typing pip install opencv-python in your
terminal or command prompt.

Running the Code:

Copy the code shared into a file named marker_generator.py.
Open a terminal or command prompt and navigate to the folder where marker_generator.py is saved.
Type python marker_generator.py and press Enter.

Generating Markers

The program will ask if you want to make a single marker (type 1) or multiple markers (type 2).
Provide the requested details for size and ID (for single) or size and quantity (for multiple) when prompted.

Viewing Markers:

For a single marker, it will display the created marker and its size.
For multiple markers, it will show each marker one by one along with their sizes. Press any key to view the next marker.

Closing the Program:

Close the marker image windows when done viewing.

The marker images will be saved in the same folder where the code is located, named as marker_.png.

Setting Up Raspberry Pi with a Camera Module

The Raspberry Pi is an incredible tool for various projects, and pairing it with a camera module adds a whole new dimension of possibilities. Follow these steps to set up your Raspberry Pi with a camera.

Here's your step-by-step guide:

What You'll Need:

Raspberry Pi board (any version with a camera port)
Raspberry Pi Camera Module (compatible with your Pi version)
MicroSD card (8GB or larger)
Power supply for your Pi
Monitor, keyboard, and mouse (for initial setup)

Preparation

Download the latest Raspberry Pi OS from the official website. Link to site
Use the Raspberry Pi Imager tool to write the OS to your MicroSD card.

Setup

Insert the MicroSD card into the Pi and power it up.
Follow the on-screen instructions to complete the initial setup (language, password, Wi-Fi, etc.).

Enable Camera

Open the Raspberry Pi Configuration tool by entering:

1	`sudo raspi-config`

Navigate to Interface Options and select Camera.
Choose Enable and reboot your Pi when prompted.

Connect the Camera

Power off your Pi.
Connect the camera ribbon cable to the camera port on the Raspberry Pi board. Make sure it's properly seated.
Power on your Pi.

Test the Camera

Open a terminal window, type:

1	`raspistill -o image.jpg`

- Check the directory for the captured image to ensure the camera is functioning correctly.

Setting Up Raspberry Pi with OpenCV

OpenCV on Raspberry Pi allows for powerful computer vision applications. In the project we use it to track the little endians. Follow these steps to set up OpenCV on your Raspberry Pi.

Here's your step-by-step guide:

Hardware Setup:

Insert the flashed micro-SD card into the Raspberry Pi.
Connect the Raspberry Pi to a monitor with peripherals.
Ensure the Pi Camera is correctly installed in the designated slot with the ribbon cable aligned properly.

OpenCV Installation

Open the Terminal on the Raspberry Pi and execute a series of commands for OpenCV installation.

Update System

Updating and upgrading the system:

1	`sudo apt-get update && sudo apt-get upgrade`

Adjust Swapfile

Modify the swapfile size temporarily:

1	`sudo nano /etc/dphys-swapfile`

Change CONF_SWAPSIZE=100 to CONF_SWAPSIZE=2048, save the changes, and restart the swapfile:

1	`sudo apt-get install build-essential cmake pkg-config`

Install Dependencies

Install necessary libraries and dependencies for OpenCV.

sudo apt-get install libjpeg-dev libtiff5-dev libjasper-dev libpng12-dev

sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev

sudo apt-get install libxvidcore-dev libx264-dev

sudo apt-get install libgtk2.0-dev libgtk-3-dev

sudo apt-get install libatlas-base-dev gfortran

sudo pip3 install numpy

Download OpenCV

Download OpenCV and its additional modules

wget -O opencv.zip https://github.com/opencv/opencv/archive/4.4.0.zip

wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.4.0.zip

unzip opencv.zip

unzip opencv_contrib.zip

Build and Compile OpenCV

cd ~/opencv-4.4.0/
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE \
      -D CMAKE_INSTALL_PREFIX=/usr/local \
      -D INSTALL_PYTHON_EXAMPLES=ON \
      -D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib-4.4.0/modules \
      -D BUILD_EXAMPLES=ON ..
make -j $(nproc)

Complete Installation

This make command may take a substantial amount of time to finish.
In case of any failure, re-enter the make -j $(nproc) command; it will resume from where it stopped.
Upon completion, proceed with installation and reboot:

sudo make install && sudo ldconfig
sudo reboot

After rebooting, reset the swapfile size back to its original value (CONF_SWAPSIZE=100).

PenHolder

This project has a Penholder included on it. This penholder is made for a marker with a diameter of ~18mm and went trough multiple itterations.

It is attached by pressing onto the board into the middle circle and pressing so the notches to the side click into place. the marker should be stable within the holder. Note that the marker pottentially won't fit with the cap on so make sure to remove the cap before inserting the marker.

The GCode that was used is made for the Ender 3 Pro v2 Neo printer

Settings: - No support - Infill density of 20% and line density of 6 mm - Layer height of 0.2 - Nozzle 0.4mm - Speed: 50mm/s - Material: PLA

The GCode,Stl and Scad file are found at: physical-design\penholder\PenHolderDesigns\Final version

The penholder is made to fit within the hole on the cart there is room available of smaller variants that are made for smaller sized pens/markers.