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Hardware & Robot Assembly

Hardware Requirements

  • Yahboom Ackerman steering chassis link
  • Raspberry Pi 4 Model B
  • SD Card (32GB or more)
  • USB Camera
  • LiDAR TBA
  • STM 32F4 Discovery Board
  • 52Pi Ultra Thin Ice Tower Cooler Cooling Fan for Raspberry Pi 4 Model B CPU Fan link
  • OLED Display
  • 4 x female-female jumper wires
  • LiPo Battery with Tplug connector

Parts

Find all the necessary parts in this Amazon list

Step 1: Raspberry Pi and STM

Parts needed for this step: Parts need in step 1

start by putting the stickers for heat sinks on the Raspberry Pi 4.

Parts Needed
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Attach the heat sinks to the Raspberry Pi 4.
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Using these parts:
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Skrew the Heat sink to the Raspberry Pi 4:
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Add 4 x spacers to the raspberry pi 4:

Spacers
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Connect the 4 x jumper wires to the GPIO pins on the Raspberry Pi 4:

Jumper Wires
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Wires pins (pinout ref):

  • red -> 5V (pin 1)
  • black -> GND (pin 9)
  • brown -> SDA (pin 3)
  • white -> SCL (pin 5)

Place the STM 32F4 Discovery Board on top of the Raspberry Pi 4:

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Then screw the STM 32F4 Discovery Board to the Raspberry Pi 4:

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Finally mount the Raspberry Pi 4 and STM 32F4 Discovery Board to the chassis:

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The final result should look like this:

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Step 2: Chassis Assembly

Parts needed for this step:

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Add 2 x spacers to the chassis base:

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Add 2 x spacers to the black plate:

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Place the black plate on top of the chassis base:

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Using 4 x screws and 4 x washers, attach the black plate to the chassis base (from front to back):

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Finally, attach the top plate to the black plate using 4 x screws and 4 x washers:

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Step 3: Wiring

3.1 Motor Wiring

Pass the servo cable through the holes and connect it to the STM Board:
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Connect the Raspberry Pi 4 with the STM Board (for power):
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Connect the Raspberry Pi 4 with the STM Board (for communication):
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Pass the motor cables through the holes and connect them to the STM Board:
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⚠️ Right motor -> Motor 4, Left motor -> Motor 2

3.2 LiDAR Wiring

Place the LiDAR on the Black Plate without mounting it and pass the cable through the holes:

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3.3 Camera Wiring

Place the camera on the top plate and pass the cable through the holes:

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Step 4: Camera, LiDAR, and OLED Display Mounting

Cut the double-sided tape into pieces:

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Mount the LiDAR on the black plate:

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⚠️ Make sure the LiDAR is facing forward and the front edge is aligned as shown in the image.
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Mount the camera on the top plate:
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⚠️ Insure that the camera lens is at the center axis of the robot.

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Connect the OLED Display to the Raspberry Pi 4:

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Finally, mount the OLED Display on the top plate:
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