​ASSEMBLE spyndra hardware

1. PLACE HEAT INSERTS & MAGNETS INTO CHASSIS

• 4 large heat inserts into Chassis side using soldering iron
• 4 large heat inserts into Tibia side 
• 4 small heat inserts into Chassis body for Raspberry Pi
• 2 small heat inserts for Battery Charger
• Glue Chassis magnets to secure connection with Spyndra Top

2. ASSEMBLE FEMUR WITH CHASSIS (REPEAT FOR ALL 4 FEMURS)

• ​Pressfit Motor into Tibia
• Secure Motor with 2 Screws (from Motor package)
• Servo Horn Calibration
  • Using Servo Horn, turn Motor to end of travel limit
  • Put on calibration jig
  • Place Servo Horn according to calibration jig
  • Secure Servo Horn
• Secure Femur
• Repeat for all 4 Femurs

3. ASSEMBLE TIBIA WITH FEMUR

• Insert Low-Friction Sleeve Bearing into Femur
• Servo Horn Calibration
  • Using Servo Horn, turn Motor to end of travel limit
  • Put on calibration jig
  • Place Servo Horn according to calibration jig
  • Secure Servo Horn
• Secure Servo Arm
• Slide secured Servo Arm into Femur
• Secure Tibia with Shoulder Bolt
• Repeat for all 4 Tibias and Femurs

Assemble Chassis with Electronics

4. Assemble Electronics Onto Chassis

• Assemble PowerBoost 1000 Charger
  • Solder black wire into ground, make sure other end of wire is female
  • Solder red wire into +5V, make sure other end of wire is female
  • Screw charger into chassis
• IMU
  • Insert heat sets in designated area under Raspberry Pi
  • Solder pins to SDA, SCL, 3 Volts, GND on IMU
  • Solder pins to 3V and GND on top right of RPi Hat
  • Screw in IMU
  • Wire IMU to RPi Hat at SDA, SCL 3 Volts and GND
• Solder Raspberry Pi Hat
  • Solder GPIO adapter pins to RPi Hat to plug into Raspberry Pi
  • Solder motor header pins to RPi Hat for motors to plug in
  • Solder capacitor into center (check polarity)
  • Solder blue terminal block into ground and 5V 
  • Solder pins for SDA and SCL ports (top right corner)
• Place tape on Raspberry Pi to prevent short-circuiting
• LiPo Battery
  • Insert blue attachment to RPi Hat (left edge)
  • Secure a positive and ground lead with female adapters to blue attachment
  • Insert LiPo in bay under Chassis and connect to power leads
  • Adhere LiPo Voltage Alarm to side of LiPo bay and attach leads
  • LiPo will have to be removed and charged separately from Li-Ion when low
  • Make sure to keep LiPo within recommended voltages 
• Connecting Electronics to Chassis
  • Screw in Battery Charger
  • Screw in Raspberry Pi
  • Attach RPi Hat to Raspberry Pi​
• Li-ION battery plugs into PowerBoost 1000 and fits snugly on opposite side of RPi (from charger)

6. Plugging in Motors & Batteries

• Plug each Motor into Arduino hat
• Place Battery into Chassis