add wiring, battery and joint range info

Author: aaronxie0000

docs/robots/k-bot/assets/kbot_wiring.pdf

@@ -19,15 +19,15 @@ The BoM Spreadsheet is [here](./assets/Kbot_BOM.xlsx)
 
 Fasteners, hardware, as well as fabricated hardware components are all listed there. 
 
-Parts are indicated as follows `KD-H-105X`: KD indicates the version number of the K-Bot (D is the fourth iteration). H indicates which subassembly the part or hardware is found in; E is for head, D is for legs, C is for arms, and B is for torso. Parts with `F` as the suffix are fasteners. 
+Parts are indicated as follows `KD-E-105X`: KD indicates the version number of the K-Bot (K for K-Bot and D is for the fourth iteration). E indicates which subassembly the part or hardware is found in; E is for head, D is for legs, C is for arms, and B is for torso. Parts with `F` as the suffix are fasteners. 
 
 The fabricated parts are available online at Onshape through our [public release](https://cad.onshape.com/publications/e15cf8edefacbba3009917c0/), or also as a zip file that can be downloaded [here](./assets/KBot_Parts.zip).
 
-You can find this helpful spreadsheet that has the picture alongside the part number. There is also a Chinese name for each part which may be useful if you are working with overseas suppliers to get these parts yourself. It can be found [here](./assets/KBot_UID_to_Pic.xlsx).
+You can find this [helpful spreadsheet]((./assets/KBot_UID_to_Pic.xlsx)) that has the picture alongside the part number. There is also a Chinese name for each part which may be useful if you are working with overseas suppliers to get these parts made yourself.
 
 ## Actuators
 
-Here are the actuators we use form Robstride. The exact location and how they are id'd are in the next page (Motor ID Mapping). 
+Here are the actuators we use from [Robstride](https://robstride.com/). The exact location and how they are id'd are in the next page (Motor ID Mapping). 
 
 
 |  | Count | Rated Load | Torque Constant | Peak Load (10 seconds) | Weight | Poles | Gear Ratio |
@@ -37,12 +37,49 @@ Here are the actuators we use form Robstride. The exact location and how they ar
 | Robstride RS03 | 8 | 20 Nm | 3.33754401 Nm/A | 60 Nm | 0.88 kg | 42 Poles | 9:1 |
 | Robstride RS04 | 4 | 40 Nm | 2.1 Nm/Arms = 2.1 * sqrt(2) = 2.96984848 | 120 Nm | 1.42 kg | 42 Poles | 9:1 |
 
-## Manufactruing Tolerances
+## Manufacturing Tolerances
 
-The main high tolerance part to be careful with is those which the bearing mounts in. The spec is described [here](./assets/KBot_KD_Bearing_bores.pdf)
+The main high tolerance part to be careful with is those which the bearing mounts in. The spec is described [here](./assets/KBot_KD_Bearing_bores.pdf). Otherwise, the general shop tolerances for CNC parts has been fine for us across the few shops we have made prototypes with.
 
 
 ## Assembly Guide
 
 We have put together a simple guide for the order of the assembly and where each fastener go along with photos. The PDF can be found [here](./assets/kbot_assembly_guide.pdf).
 
+
+## Wiring Harness
+
+Lots of thought has been put into how we wire the robot (and it is still the least reliable part of the robot). As such, we have specific spec for the wires that should be used. It also involves customizing the RS03 and RS04 actuators as we find the default CAN plug to be unsuitable for our application. Find the specification of the wires in [this PDF](./assets/kbot_wiring.pdf). 
+
+## Battery
+
+Currently the K-Bot uses a 12 AH NCM battery. Each cell is 4V. There is also a BMS inside which communicates with the power board. You can see the mechanical parts for the battery component for the space available - its 135mm x 180mm x 65mm for the pack and 130mm x 20mm x 35mm for the BMS and plug.
+
+
+## Joint Range
+
+| Joint Name - KD | Min Angle (deg) | Max Angle (deg) | Min Angle (rad) | Max Angle (rad) |
+| --- | --- | --- | --- | --- |
+| dof_left_shoulder_pitch_03 | -60.000 | 200.000 | -1.047 | 3.491 |
+| dof_left_shoulder_roll_03 | -25.000 | 95.000 | -0.436 | 1.658 |
+| dof_left_shoulder_yaw_02 | -95.792 | 95.792 | -1.672 | 1.672 |
+| dof_left_elbow_02 | -142.000 | 0.000 | -2.478 | 0.000 |
+| dof_left_wrist_00 | -79.000 | 79.000 | -1.378 | 1.378 |
+| dof_right_shoulder_pitch_03 | -200.000 | 60.000 | -3.491 | 1.047 |
+| dof_right_shoulder_roll_03 | -95.000 | 25.000 | -1.658 | 0.436 |
+| dof_right_shoulder_yaw_02 | -95.792 | 95.792 | -1.672 | 1.672 |
+| dof_right_elbow_02 | -0.000 | 142.000 | -0.000 | 2.478 |
+| dof_right_wrist_00 | -79.000 | 79.000 | -1.378 | 1.378 |
+| dof_left_hip_pitch_04 | -60.000 | 127.000 | -1.047 | 2.216 |
+| dof_left_hip_roll_03 | -130.000 | 12.000 | -2.268 | 0.209 |
+| dof_left_hip_yaw_03 | -90.000 | 90.000 | -1.571 | 1.571 |
+| dof_left_knee_04 | -0.000 | 155.000 | -0.000 | 2.705 |
+| dof_left_ankle_00 | -15.000 | 65.000 | -0.262 | 1.134 |
+| dof_right_hip_pitch_04 | -127.000 | 60.000 | -2.216 | 1.047 |
+| dof_right_hip_roll_03 | -12.000 | 130.000 | -0.209 | 2.268 |
+| dof_right_hip_yaw_03 | -90.000 | 90.000 | -1.571 | 1.571 |
+| dof_right_knee_04 | -155.000 | 0.000 | -2.705 | 0.000 |
+| dof_right_ankle_00 | -65.000 | 15.000 | -1.134 | 0.262 |
+
+
+