Building
==========

Electronics preparation
------------------------

#. Flash and configure the motor drivers with our specific firmware and settings. Refer to `motor driver flashing instructions <https://docs.google.com/document/d/13Q2YtWH1blkuMqkX6dE0ckYl6Gd8DabGtTVi1t2s_aY/edit?usp=sharing>`_ for details.
#. Flash the control board with our firmware. Refer to :doc:`flashing_control_board` for instructions.

Hardware preparation
------------------------

#. Use a soldering iron at 250c to insert the threaded inserts into all appropriate holes in the printed parts.
#. Glue squash balls to the lower legs using super glue.
#. Remove the lens holder from the camera and replace it with the short lens holder and fisheye lens.
#. If your camera is not focused, focus the camera by attaching it to the Raspberry Pi 5 (see :doc:`software_installation`), using `rpicam-hello <https://www.raspberrypi.com/documentation/computers/camera_software.html>`_ application to view the camera feed, and adjusting the lens until the image is clear.

Hardware assembly
------------------------

.. raw:: html

        <a href="https://docs.google.com/presentation/d/10pe-J3zd4QESnqR-5TIyVrtoOJ6wbkAccJCaHbgprJw/edit?usp=sharing" target="_blank" style="font-size: 1.2em; font-weight: bold; color: #E53E3E; background-color: #FED7D7; padding: 10px 15px; border-radius: 5px; text-decoration: none; display: inline-block; margin: 10px 0;">📝 Open build instructions in new tab 📝</a>

    
.. raw:: html

    <iframe src="https://docs.google.com/presentation/d/e/2PACX-1vRlexBkoR70eXHJi64f0O1xf0eONj9TrP4Yl5tiR3lfG5ju2HvSBXPMV50s6S55vmgMERlEnyusoFmH/pubembed?start=false&loop=false&delayms=60000" frameborder="0" width="675" height="400" allowfullscreen="true" mozallowfullscreen="true" webkitallowfullscreen="true"></iframe>


CAD
-----

* `Onshape CAD model <https://cad.onshape.com/documents/97a1bc3e752ec66822dbb5bb/w/c7f9232ccbc53a2e3f6ee909/e/74c0b3caf828b9fd1994bcd6?renderMode=0&uiState=683be4f0c59fb554ee1111a4>`_
* `Fusion 360 model <https://a360.co/4kD64eX>`_