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66 lines
3.1 KiB
Markdown
66 lines
3.1 KiB
Markdown
# Assembling and setting up the electromagnetic gripper
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The magnetic gripper can be assembled in various ways according to the wiring diagram.
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<img src="../assets/magnet_grip/scheme.jpg" width=300 class="zoom border center">
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The following is an example of assembling an electromagnetic capture circuit on a breadboard.
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> **Info** It is recommended to lay the wiring between the elements on the back side of the board (in the following images, the wiring is done over the diagram for illustrative purpose).
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1. Place the Schottky diode, 10K resistor, and transistor on the soldering board.
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<img src="../assets/magnet_grip/magnet1.png" width=300 class="zoom border center">
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2. Solder the contacts on the other side of the board and bite off the remaining element legs.
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3. Connect the pins of the resistor and the two outer legs of the transistor.
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<img src="../assets/magnet_grip/magnet2.png" width=300 class="zoom border center">
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4. Connect the center leg of the transistor and the leg of the Schottky diode (opposite to the gray marking strip).
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<img src="../assets/magnet_grip/magnet3.png" width=300 class="zoom border center">
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5. Cut the required amount of magnetic grab wire and solder it to the pins of the Schottky diode.
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<img src="../assets/magnet_grip/magnet4.png" width=300 class="zoom border center">
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6. Solder the *Dupont* - male wires to the transistor and diode leg (red, black wires), and the *Dupont* - fmale wire to the opposite transistor leg (white wire).
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<img src="../assets/magnet_grip/magnet5.png" width=300 class="zoom border center">
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## Checking the operation of the electromagnetic gripper
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In order to check the operation of the gripper, apply a voltage of 5V to the signal wire. You can use the *Dupont* dad-dad wire for that.
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<img src="../assets/magnet_grip/magnet_check.png" width=300 class="zoom border center">
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After applying voltage, the magnet should turn on.
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## Connecting to Raspberry Pi
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Connect the magnetic gripper to a Raspberry Pi for software activation.
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<img src="../assets/magnet_grip/magnet_raspberry.png" width=300 class="zoom border center">
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An example of the code activating the magnetic gripper can be found [here](gpio.md#connecting-an-electromagnet).
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## Connecting to Arduino
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Connect the gripper to the Arduino Nano board in order to control it manually.
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It is convenient to place it on the same soldering board — insert it into the appropriate holes and solder it from the back to the board.
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<img src="../assets/magnet_grip/magnet_arduino1.png" width=300 class="zoom border center">
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Then connect the signal output of the circuit to the selected port and solder the *Dupont* female wire to the selected signal port on the board.
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<img src="../assets/magnet_grip/magnet_arduino2.png" width=300 class="zoom border center">
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## Installation of electromagnetic gripper
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1. Install an electromagnet into the center hole on the gripper deck.
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2. Use a zip tie to pull the assembled circuit to the back of the deck.
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3. Plug the Arduino *D11* signal pin into one of the *AUX* pins on the flight controller.
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4. Plug the power wire of the electromagnetic gripper to JST 5V.
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