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Arduino Tank Robot - Assembly Guide

Preparation Stage

Safety First:

  • Wear safety glasses when cutting aluminum
  • Work on anti-static mat (especially when handling Arduino)
  • Keep fire extinguisher nearby during power testing

Pre-Assembly Checklist:

graph TD
    A[Unpack Components] --> B[Verify BOM Completeness]
    B --> C[Charge Batteries]
    C --> D[Prepare Tools]
    D --> E[Clear Workspace]
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Step 1: Chassis Assembly

Mechanical Components

  1. Base Plate Preparation:

    • Cut aluminum plate to 15x20cm dimensions
    • File sharp edges smooth
    • Drill 3mm mounting holes for motors and electronics

  2. Motor Installation:

    1. Position motors at front corners
2. Use rubber gaskets between motor and chassis
3. Secure with M3 bolts and lock washers
4. Verify shaft alignment with sprockets

    Motor Mount

  3. Track System Assembly:

    • Install drive sprockets on motor shafts
    • Mount idler wheels at rear (adjustable tension)
    • Thread rubber tracks with 5-10mm slack

Step 2: Insulation Layer

Critical Electrical Isolation:

1. Cut EVA foam to match chassis dimensions
2. Apply double-sided tape to aluminum surface
3. Press foam firmly onto chassis
4. Punch holes through foam for mounting points
5. Verify continuity: 
   - Multimeter should show OL (open) between any component and chassis

Step 3: Electronics Mounting

Component Layout

Component Position Mounting Method
Arduino Uno Center Nylon standoffs
L298N Module Rear Silicone pads
PS2 Receiver Front Hot glue
Battery Holders Sides Velcro strips

Installation Sequence:

  1. Mount Arduino with 10mm standoffs
  2. Position L298N near motors with thermal pad
  3. Secure PS2 receiver at highest point
  4. Attach battery holders to sides

Step 4: Wiring

Power System Connections

graph LR
    A[18650 Battery+] --> B[L298N +12V]
    C[L298N GND] --> D[Common Ground Bus]
    E[9V Battery+] --> F[Arduino Vin]
    G[Arduino GND] --> D
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  1. Motor Wiring:

    • Left Motor → L298N OUT1/OUT2
    • Right Motor → L298N OUT3/OUT4
    • Use heat shrink on all terminals

  2. Control Wiring:

    PS2 Receiver to Arduino:
- CLK → Pin 13
- CMD → Pin 11
- ATT → Pin 10
- DAT → Pin 12
- VCC → 3.3V
- GND → GND

L298N to Arduino:
- ENA → Pin 3
- IN1 → Pin 4
- IN2 → Pin 5
- IN3 → Pin 7
- IN4 → Pin 8
- ENB → Pin 6

Cable Management

  • Bundle wires by system (power/signal)
  • Use spiral wrap for motor cables
  • Secure with zip ties every 5cm
  • Label connections with tape flags

Step 5: Software Setup

  1. Install Dependencies:

    Required Libraries:
- PS2X_lib (v1.8.0+)

  2. Upload Sketch:

    1. Connect Arduino via USB
2. Open `src/tank_robot_ps2.ino`
3. Verify board type: Arduino Uno
4. Upload code

Step 6: Power-On Sequence

Safety Verification:

  • No metal-on-metal contact
  • Insulation layer intact
  • All wires secured
  • Tracks move freely

Startup Procedure:

  1. Connect motor battery first
  2. Power Arduino via separate source
  3. Press PS button on controller
  4. Check serial monitor: Found Controller

Step 7: Calibration

Motor Direction Test

Command Expected Movement Correction If Wrong
Forward Both tracks forward Swap IN1/IN2 or IN3/IN4
Left Turn Right forward, left backward Reverse motor polarity
Right Turn Left forward, right backward Swap left/right motor wires

Controller Calibration

1. Center analog sticks
2. Upload deadzone test sketch:
   void setup() { Serial.begin(57600); }
   void loop() {
     Serial.print("LX: "); Serial.print(ps2x.Analog(PSS_LX));
     Serial.print(" LY: "); Serial.println(ps2x.Analog(PSS_LY));
   }
3. Adjust DEADZONE value until noise stabilizes

Final Verification

Functional Checklist:

  • Forward/backward movement
  • Left/right pivoting
  • Stop when releasing controls
  • Auto-stop on controller disconnect
  • No overheating components
  • Minimum 30min runtime

First Run Protocol:

  1. Test on foam surface
  2. Begin at 50% speed
  3. Gradually increase to full speed
  4. Monitor battery voltage drop

Maintenance Schedule

Interval Task
After 5 runs Check track tension
Monthly Clean motor brushes
Quarterly Reapply thermal paste on L298N
Biannual Replace EVA insulation

Warning: Always disconnect power before maintenance!