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Images/Fixing Screws for the Lolly Stick Assembly.jpg

@@ -368,6 +368,30 @@
     </span>
   </a>
 
+    <nav class="md-nav" aria-label="Attaching the Moulded Plastic wheels">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#attaching-the-lefthand-moulded-plastic-wheel" class="md-nav__link">
+    <span class="md-ellipsis">
+      Attaching the Lefthand Moulded Plastic Wheel
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#attaching-the-righthand-moulded-plastic-wheel" class="md-nav__link">
+    <span class="md-ellipsis">
+      Attaching the Righthand Moulded Plastic Wheel
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
 </li>
 
           <li class="md-nav__item">
@@ -1020,6 +1044,30 @@
     </span>
   </a>
 
+    <nav class="md-nav" aria-label="Attaching the Moulded Plastic wheels">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#attaching-the-lefthand-moulded-plastic-wheel" class="md-nav__link">
+    <span class="md-ellipsis">
+      Attaching the Lefthand Moulded Plastic Wheel
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#attaching-the-righthand-moulded-plastic-wheel" class="md-nav__link">
+    <span class="md-ellipsis">
+      Attaching the Righthand Moulded Plastic Wheel
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
 </li>
 
           <li class="md-nav__item">
@@ -1235,18 +1283,27 @@ <h3 id="attaching-the-moulded-plastic-wheels">Attaching the Moulded Plastic whee
 <p class="admonition-title">Do this Before Attaching The MG996 Servo</p>
 <p>These wheels must be attached before the servo, because the servo obscures access to the screw heads for the left wheel.</p>
 </div>
-<p>The cheap plastic wheels should be attached to the lugs at the front of the chassis M4x20 machine screws. Because these wheels rotate freely, you will either need a pair of <debughl><a href="https://www.boltscience.com/pages/twonuts.htm" target="_blank">locking nuts</a></debughl> or using an M4 nylon-insert lock nut – nyloc, (the method I have used in <debughl><a href="#chassisPic">Fig 1</a></debughl>), to ensure the wheels are secure but free to rotate, as illustrated in <debughl><a href="#nylocWheel">Fig 5</a></debughl>.</p>
-<figure>
-  <a name="nylocWheel"></a>
-  <a class="glightbox" href="../Images/Nyloc%20Wheel.jpg" data-type="image" data-width="auto" data-height="auto" data-desc-position="bottom"><img alt="Fixing the Molded plastic wheels using nyloc nuts." src="../Images/Nyloc%20Wheel.jpg"></a>
-  <figcaption>Fixing the Molded plastic wheels using nyloc nuts.</figcaption>
-</figure>
-<p><debughl><a href="#nylocWheel1Vid">Fig 6</a></debughl> shows a short video showing assembly of the wheel beside the servo.</p>
+<h4 id="attaching-the-lefthand-moulded-plastic-wheel">Attaching the Lefthand Moulded Plastic Wheel</h4>
+<p>The lefthand moulded plastic wheel is the wheel next to the servo, at the front of the robot, and should be attached first. To attach this wheel, you require an <problemhl>M3x20 bolt and an M3 nyloc nut</problemhl>. The moulded plastic wheels are attached to the lugs at the front of the robot chassis.</p>
+<p>The bolt for this wheel <strong>Must</strong> be pushed through from the between the lugs, with the head infront of the rectangular servo hole. This is to ensure that the servo hole is not obsured and an be inserted correctly.</p>
+<p><debughl><a href="#nylocWheel1Vid">Fig 5</a></debughl> shows a short video showing assembly of the lefthand wheel beside the servo. (Note: This video was recorded for a previous version of the chassis using an M4x20 bolt, not the M3x20 that is neccessary for the newer chassises.)</p>
 <figure>
   <a name="nylocWheel1Vid"></a>
 <iframe allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen="allowfullscreen" frameborder="0" height="315" referrerpolicy="strict-origin-when-cross-origin" src="https://www.youtube.com/embed/7-MFaJx_KcQ?si=Ayw9EUbMpnuZHfUZ" title="YouTube video player" width="560"></iframe>
 <p><em><strong>Note:</strong> This video has no commentary</em></p>
-<figcaption>Video showing the attachment of the plastic moulded wheel beside the servo.</figcaption>
+<figcaption>Video showing the attachment of the lefthand moulded plastic wheel beside the servo.</figcaption>
+</figure>
+<h4 id="attaching-the-righthand-moulded-plastic-wheel">Attaching the Righthand Moulded Plastic Wheel</h4>
+<p>The righthand moulded plastic wheel is the wheel away from the servo, at the front of the robot, and should be inserted second. To attach this wheel, you require an <problemhl>M4x20 bolt and an M4 nyloc nut</problemhl>.The presence of the lefthand wheel makes screwing in the bolt difficult, if inserted from between the lugs - we advise inserting the screw from the outside of the lugs, with the bolt on the inside.</p>
+<div class="admonition note">
+<p class="admonition-title">Note on wheel screw tightness</p>
+<p>When fastening the screws on the moulded plastic screws, ensure that you have sufficiently tightened the nyloc nut to prevent too much wobble in the wheel, but the wheel is still able to spin freely.</p>
+</div>
+<p><problemhl>Ignore the next little bit, up to section 2.3</problemhl> This is currently being edited offline and I do not want to lose figure number synchronication with the remaining text in this section.</p>
+<figure>
+  <a name="nylocWheel"></a>
+  <a class="glightbox" href="../Images/Nyloc%20Wheel.jpg" data-type="image" data-width="auto" data-height="auto" data-desc-position="bottom"><img alt="Fixing the Molded plastic wheels using nyloc nuts." src="../Images/Nyloc%20Wheel.jpg"></a>
+  <figcaption>Fixing the Molded plastic wheels using nyloc nuts.</figcaption>
 </figure>
 <p><debughl><a href="#nylocWheel2Vid">Fig 7</a></debughl> shows a short video showing assembly of the wheel away from the servo.</p>
 <figure>
@@ -1255,10 +1312,6 @@ <h3 id="attaching-the-moulded-plastic-wheels">Attaching the Moulded Plastic whee
 <p><em><strong>Note:</strong> This video has no commentary</em></p>
 <figcaption>Video showing the attachment of the plastic moulded wheel away from the servo.</figcaption>
 </figure>
-<div class="admonition note">
-<p class="admonition-title">Note on wheel screw tightness</p>
-<p>When fastening the screws on the moulded plastic screws, ensure that you have sufficiently tightened the nyloc nut to prevent too much wabble in the wheel, but the wheel is still able to spin freely.</p>
-</div>
 <h3 id="attaching-the-mg996-servo">Attaching the MG996 Servo</h3>
 <div class="admonition note">
 <p class="admonition-title">Attach the moulded plastic wheels before the MG996 Servo</p>
@@ -1283,12 +1336,13 @@ <h3 id="attaching-the-mg996-servo">Attaching the MG996 Servo</h3>
 <p><em><strong>Also note:</strong>  the servo attachment screws have been changed to all M3x12 screws, from those shown in the video.</em></p>
 </div>
 <h3 id="assembling-the-lolly-stick-d-assembly">Assembling the Lolly Stick D Assembly</h3>
-<p>The lolly stick assembly consists of the Sharp <abbr title="Infra Red">IR</abbr> sensor, a laser cut plywood linkage and a servo horn for the MG996, as shown in <debughl><a href="#LollyAss">Fig 10</a></debughl>.</p>
+<p>The lolly stick assembly consists of the Sharp <abbr title="Infra Red">IR</abbr> sensor, a laser cut plywood linkage and a servo horn for the MG996, as shown at the bottom of <debughl><a href="#LollyAss">Fig 10</a></debughl>.</p>
 <figure>
   <a name="LollyAss"></a>
   <a class="glightbox" href="../Images/Fixing%20Screws%20for%20the%20Lolly%20Stick%20Assembly.jpg" data-type="image" data-width="auto" data-height="auto" data-desc-position="bottom"><img alt="Fixing Screws for the Lolly Stick Assembly." src="../Images/Fixing%20Screws%20for%20the%20Lolly%20Stick%20Assembly.jpg"></a>
   <figcaption>Fixing Screws for the Lolly Stick Assembly.</figcaption>
 </figure>
+<p><strong><em>Note:</em></strong> you can use any of the servo horns, shown at the top of <debughl><a href="#LollyAss">Fig 10</a></debughl>, for this assembly (we have used a cross). The servo horn attaches to the lolly stick with the servo spline hole pointing backwards and the flat face forwards, from the contect of <debughl><a href="#LollyAss">Fig 10</a></debughl>.</p>
 <p>It is recommended that you assemble the lolly stick assembly as shown in <debughl><a href="#LollyAss">Fig 10</a></debughl>, because this results in the header terminals for the <abbr title="Infra Red">IR</abbr> sensor being on the top side of the <abbr title="Infra Red">IR</abbr> sensor, when the lolly stick is in the horizontal position, see <debughl><a href="#LollyUp">Fig 11</a></debughl>.</p>
 <p>The <abbr title="Infra Red">IR</abbr> sensor is fixed to the lolly stick with 2x M3x6 screws and 2x M3 nuts, as can be seen in <debughl><a href="#LollyAss">Fig 10</a></debughl>.</p>
 <p>The servo horn is attached to the lolly stick using 2x M2x8mm Phillips Head Flange Screws. </p>
@@ -1376,6 +1430,10 @@ <h2 id="suggested-circuit-layouts-for-the-exercises">Suggested Circuit Layouts f
 <p class="admonition-title">Note: Advanced Exercises</p>
 <p>The advanced exercises do not require any extra circuit build. They work from the circuit that has been constructed for the final <a href="#Encoder">Basic Exercise: Encoders and Motor</a>.</p>
 </div>
+<div class="admonition note">
+<p class="admonition-title">Note on the circuit layout diagrams in the following sections</p>
+<p>The circuit layout drawings in the following sections are constructed using several drawing packages. As a result, some of the components/connections do not line up exactly, as desired. Please use these diagrams with the accompanying figures and tables to provide you with a complete picure on how to build the circuit.</p>
+</div>
 <h3 id="circuit-layout-for-the-led-pattern-and-calibration-of-potentiometer-angle-exercises">Circuit Layout for the <abbr title="Light Emitting Diode">LED</abbr> Pattern and Calibration of Potentiometer Angle Exercises</h3>
 <p><a name="LEDPatternBuild"></a></p>
 <p>The following circuit layout is sufficient to complete both the <a href="../BasicExercises/ledPattern/"><abbr title="Light Emitting Diode">LED</abbr> pattern</a> Exercise. This section illustrates where to layout and the connections for: the three <abbr title="Light Emitting Diodes">LEDs</abbr> and associated resistors, the button and the potentiometer, as illustrated in <debughl><a href="#LEDPattern">Fig. 13</a></debughl>.</p>
@@ -1411,7 +1469,7 @@ <h3 id="circuit-layout-for-the-led-pattern-and-calibration-of-potentiometer-angl
 
 <p><a name="irSensor"></a></p>
 <h3 id="circuit-layout-for-the-ir-sensor-exercise">Circuit Layout for the <abbr title="Infra Red">IR</abbr> Sensor Exercise</h3>
-<p>This section illustrates the connection of the Sharp <abbr title="Infra Red">IR</abbr> sensor into the circuit, required for the <a href="../BasicExercises/IrSensor/"><abbr title="Infra Red">IR</abbr> Sensor Measurement and Graph</a> exercise, as illustrated in <debughl><a href="#irSensorPic">Fig. 16</a></debughl>. You should keep the circuit wired from the previous section.</p>
+<p>This section illustrates the connection of the Sharp <abbr title="Infra Red">IR</abbr> sensor into the circuit, required for the <a href="../BasicExercises/IrSensor/"><abbr title="Infra Red">IR</abbr> Sensor Measurement and Graph</a> exercise, as illustrated in <debughl><a href="#irSensorPic">Fig. 16</a></debughl>, also see <debughl><a href="#ScrewBreakout">Fig 17</a></debughl> for details of the 6-way terminal board used to connect the <abbr title="Infra Red">IR</abbr> sensor. You should keep the circuit wired from the previous section.</p>
 <figure>
   <a name="irSensorPic"></a>
   <a class="glightbox" href="../Images/SillyBot%20IR%20Sensor.png" data-type="image" data-width="auto" data-height="auto" data-desc-position="bottom"><img alt="Diagram showing the suggested component layout and wiring for the IR Sensor Exercise." src="../Images/SillyBot%20IR%20Sensor.png"></a>
@@ -1537,8 +1595,8 @@ <h3 id="circuit-layout-for-the-dc-motor-exercise">Circuit Layout for the DC Moto
     <tr> <td>GND</td><td>Ground</td><td>N/C</td> </tr>    
     <tr> <td>AO1</td><td>Channel A Motor Output 1</td><td>N/C</td> </tr>    
     <tr> <td>AO2</td><td>Channel A Motor Output 2</td><td>N/C</td> </tr>    
-    <tr> <td>BO2</td><td>Channel B Motor Output 2</td><td>Motor -</td> </tr>    
-    <tr> <td>BO1</td><td>Channel B Motor Output 1</td><td>Motor +</td> </tr>    
+    <tr> <td>BO2</td><td>Channel B Motor Output 2</td><td>Motor+ (P3 on the 6-way breakout)</td> </tr>    
+    <tr> <td>BO1</td><td>Channel B Motor Output 1</td><td>Motor- (P4 on the 6-way breakout)</td> </tr>    
     <tr> <td>GND</td><td>Ground</td><td></td> </tr>    
     <tr> <td>PWMA</td><td>Channel A PWM Signal</td><td>N/C</td> </tr>    
     <tr> <td>AI2</td><td>Channel A Bridge Configuration Input 2</td><td>N/C</td> </tr>    
@@ -1552,7 +1610,7 @@ <h3 id="circuit-layout-for-the-dc-motor-exercise">Circuit Layout for the DC Moto
 <caption>Pin connections to the TB6612FG motor driver board.</caption>
 </table>
 
-<p>The DC motor power is connected through the <debughl><a href="#ScrewBreakout">6-way screw terminal breakout board</a></debughl>, as shown in <debughl><a href="#ScrewBreakout">Fig. 17</a></debughl>. The connections for the driver board are shown in <debughl><a href="#TB6612FGConnect">Table 6</a></debughl>. </p>
+<p>The DC motor power power terminals are connected through the <debughl><a href="#ScrewBreakout">6-way screw terminal breakout board</a></debughl>, as shown in <debughl><a href="#ScrewBreakout">Fig. 17</a></debughl>. The connections for the driver board are shown in <debughl><a href="#TB6612FGConnect">Table 6</a></debughl>. </p>
 <p><a name="Encoder"></a></p>
 <h3 id="circuit-layout-for-the-encoders-and-motor-exercise">Circuit Layout for the Encoders and Motor Exercise</h3>
 <p>The final part of the circuit to connect is the motor encoder to the Arduino, as illustrated in <debughl><a href="#dcMotorPic">Fig. 21</a></debughl>. The encoder is connected through the <debughl><a href="#12WayHeader">12-way header</a></debughl>, which is detailed in <debughl><a href="#headerConnect">Table 8</a></debughl>.</p>