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Weekly Assignments
week 1. Project management week 2. Computer Aided design week 3. Computer controlled cutting week 4. Embedded programming week 5. 3D Scanning and printing week 6. Electronics design week 7. Computer controlled machining week 8. Electronics production week 9. Input devices week 10. Output devices week 11. Networking and communications week 12. Mechanical design & machine design week 14. Molding and casting week 15. Interface and application programming week 16. system integration week 17. wildcard week week 18. applications and implications, project development week 19. Invention, intellectual property and income
Final Project
other Software
Video Editing

The Final Project

Summary Slide

Final Video

Parts List | BOM

X-Assembly

Category Item Link
Mechanical 198mm 2020-Profile (1x) source
Mechanical 198mm Igus Drylin N 17 - Low-Profile Linear Guide(1x) source
Mechanical 20mm gliding element (1x) source
Electronics SG92R Servo source
Electronics 12V Solenoid source
Hardware 5x M3x10mm countersunk screw(7mm thread length) source
Hardware 3x M3 5mm T-slot nut, source
Hardware 4x M2x6mm screw source
Hardware 2x 2x1mm round neodymium magnet source
3D Printed Servogear, SolenoidGear, SolenoidCap, X-Gantry, Servoblock (2x) source

Y-Assembly

Category Item Link
Mechanical 198mm 2020-Profile (2x) source
Mechanical 198mm Igus Drylin N 17 - Low-Profile Linear Guide(2x) source
Mechanical 40mm gliding element (2x) source
Electronics Stepper Nema17 source
Hardware GT2 pulley (16 teeth, 5mm bore) source
Hardware GT2 Belt source
Hardware 4x F624ZZ bearing source
Hardware 2x Melting insert M3x5.7 source
Hardware 2x M3x16mm socket head screw source
Hardware 14x M3x8mm countersunk screw (6mm thread length) source
Hardware 6x M3 5mm T-slot nut source
Hardware 4x M5x10mm countersunk screw(7mm thread length) source
3D Printed EXCHolder1, EXCHolder2 source

Lower Compartment

Category Item Link
Electronics Stepper Nema17 source
Hardware GT2 pulley (16 teeth, 5mm bore) source
Hardware GT2 Belt source
Electronics PD-Board source
Electronics MainBoard source in Week 8
Hardware 4x 50mm 2020-Profile source
Connectors 2x Wago 221-415 source
Hardware 10x Melting insert M3x5.7 source
Hardware 4x M3x10mm socket head screw source
Hardware 4x 2,9mmx6,5mm Flat head Metalscrew source
Hardware 3x M3x8mm countersunk screw(6mm thread length) source
Hardware 6x M3x16mm socket head screw source
Hardware 4x F624ZZ bearing source
Hardware 26x M5 5mm T-slot nut source
Hardware 25x M5x8mm socket head screw source
Hardware 1x M5x10mm countersunk screw(7mm thread length) source
3D Printed PDHolderA/B, ButtonHolderA/B, PCBHolder, WagoHolder , L2Assembly, L4Assembly, CableHolderA/B source
Laser Cut BotCover, RightPanel, LeftPanel, FrontPanel, BackPanel source

Upper Frame

Category Item Link
Milled Parts RLOW, RUP, LLOW, LUP, FLOW, FUP, BLOW, BUP source Week 7
3D Printed Tile_Tile (25x), Tile_Housing (25x),Tile_Topper(25x) source
Laser Cut DisplayWindow, Tileplate, WindowF (2x) source
Hardware 10x M4x16mm socket head screw source
Hardware 10x M4 5mm T-slot nut source
Hardware 50x 2x1mm round neodymium magnet source
Hardware 100x 3x1mm round neodymium magnet source
Hardware 2x Melting insert M3x5.7 source
Hardware 2x M3x16mm socket head screw source

Misc

The Things i list now is up to you, what exactly you want to use:

Downloads

Software

Information to the UI: You need to install the ControlP5 libray by Adreas Schlegel, through the librarymanager(Sketch -> import library -> Manage Libraries) in Processing.

FP_UI with Processing Pi Pico Firmware

other Stuff

Important Stuff

Models I used in my and what i used it for, which are not mine

Used for reference

Used in final Project

My Road to the Prototype

What could be my final Project????(week 1)

To give you some Background Info: I love Playing Dungeons and Dragons and switched to mostly be the Gamemaster. For that i have something in Mind. I want to make a MechanicalDungeon, the MechaDungeon. The Plan ist to have 1 inch tiles, which acts like Walls or Floor. This Tiles will then be rised or lowered by some sort of mechanics.

First Idea

The first idea was to use some sort of Actuators like a electromagnet or a servo. At some Point i realized, that this would be a enormous ammount of actuators. I planned a Board size of 10x10 tiles which would be 100 actuators.

Old Idea

second Idea

After Hours of thinking and fidgiting around with my Pen, something came into my mind. Why dont use a similar Mechanism like the Retractable Pens. I would combine this with an XY Bot and an Actuator and would a cheap to extend Version, which is also simple to realize.

New Idea

Research

Week 2

In Week 2 I overhauled the tile mechanism, I switched from a latching to a Twisting mechanism.

Week 4

In Week 4 I started with the Code for my MechaDungeon. I implemented the Menu, getting Dungeons from Serial and Controlling the Machine with Buttons

Week 5

In Week 5, I made some tweeks in the Twisting Mechanism and the top of the Tile

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Week 6

In Week 6 I designed the PCB for the MechaDungeon

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Week 7

In week 7. Computer controlled machining you saw, that i milled the main frame for my final Project. I also Lasercut the Tileholder

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Week 8

In Week 8, I produced the Board made in Week 6

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Week 11

In Week 11, Tried a bit with MQTT and Im thinking using it to get DATA "OTA"(Over the Air)

Week 12 + 13

In Week 12+13, We tried a bit with Stepper and Drivers, what was beneficial for me. I also figured out, that leen couldn't communicate with my board to the Drivers

Midterm

What is done

What needs to be done

When What
Week - 14 extensive Electronics Testing|Internal Rail System
Week - 15 Human-Machine Interface|lifting+twisting Mechanism
Week - 16 Internal Wiring|Power Supply
Week - 17 Bug Fixes
Week - 18 Bug Fixes
Week - 19 Bug Fixes

Week 15

In Week 15 I figured out, what the problem was with my Board. I had some bad solderjoints and ripped pads.

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Week 16

In Week 16, I put more Time in the Last Design Steps for the Final Project

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Week 17

In Week 17, I designed the Tile Toppers, Did most of the left assembly and made some decisions

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Problem: Y-Assembly

The 20mm gliding elements used in the Y-Assembly were to short, what lead to slag in the movement and so breaking, because of build up tension, i exchanged the gliding elements to 40mm ones.

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Cut of Features!

Because of Time reasons i decided to remove the Feature of the Standalone function. That means i wont use the buttons and also the display. Instead I go full Interfacing with Processing over Serial.

Feets

There are 2 possibillities for the Feets. The first is to nuy them, the second is to cast them. I went on and casted them. For that purpose i made a mold for 4 feets, which are designed for m6 Bolts. It is a two part which is screwed together.

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After filling the mold with silicone, i took out the cast, and trimmed the flashing and sprues. Yes there where a bit massive, but i wanted as much ventelation as possible

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At the Top I provide the STLs for the Mold, aswell as from the feet, if you want to print them in TPU or so.

Week 18

Besides all the "Paperwork" you find in this weeks assignment I worked on, the tiles, the Cablemanagement and the first Steps of my "baby". In addition, I programmed the UI in Processing.

Tiling

The Tiling Process, was easy. After all prints where done, i started by gluing the magnets into the "TilePins" this is done in a way, that the polarity is matching with the magnets in the turning mechanism.

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Second Step was put the "Housing"(Black) over the "TilePins" and inserting the "Guidpin", which is a 1,75mm piece of filament. In my case, i used white ASA laying in the recycling bin

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Last step, was screwing the Tile-assembly onto the "TilePlate" with 3mmx10mm woodscrews.

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Cablemanagement

For Cablemanagement i created ZipTie-Blocks, you can Download at the Top

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First Movements

In the video, you see the first steps. Its just the Homing function but ist a start.

UI

I created the UI using Processing, based on the code from Week 15 . You find the .pde at the top.

Overview

This Processing sketch creates a graphical user interface to control the MechaDungeon using buttons and serial communication.

Libraries and Variables

It uses the ControlP5 library for the GUI and processing.serial to communicate with Arduino. It tracks xPos and yPos as the current positions and reads step values from a text field.

setup()

Initializes the window size, loads the font, connects to the serial port, and sets up GUI elements:

draw()

Updates the background and draws a small panel that shows current X and Y steps. It also labels the input field and status values.

getSteps()

Reads the number entered in the text field. Converts it to an integer for use in movement commands.

Movement Functions

Tile and Dungeon Commands

home()

Sends a homing command to reset the machine to its origin using the endstops.

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Pi Pico Firmware

Based on the code of our Machine assignment in Week 12 and 13 and the code from Week 15, I created the Firmware for the Pi Pico. The functions, i implemented are:

Overview

This Arduino sketch controls a 2-axis system using stepper motors, a servo, and a solenoid. It moves to different positions, raises or lowers tiles, and can build a predefined layout like a dungeon map.

Global Setup

The code sets up pin numbers for motors, endstops, and the solenoid. It also defines speeds and step counts, and initializes a servo on pin 22.

setup()

Sets the pin modes, disables motors, attaches the servo, and sets its start position. The solenoid control pin is also initialized.

loop()

Runs once to home the machine. Then listens to Serial input for movement commands (e.g., x+100) or word commands like raise, lower, or d1.

stepX(steps, dir) and stepY(steps, dir)

These functions move the stepper motors a given number of steps in the specified direction (HIGH or LOW), with a short delay between each step.

home()

Moves the X and Y axes toward their endstops until triggered. This sets the machine's start position.

pos1()

Moves to a predefined position after homing. Useful for testing or setting a starting tile.

dungeon1()

Moves through a sequence of positions and calls raise() at each tile to build a specific layout. This is a full automation sequence.

raise()

Moves the servo to 180°, activates the solenoid, then slowly rotates back to 0°. It also performs small "nudges" in case of mechanical sticking.

lower()

The opposite of raise(). Starts at 0°, activates the solenoid, slowly rotates to 180°, and resets.

isAxisCommand(cmd)

Checks if a received serial string is a valid axis move command (e.g., x+200 or y-150).

extending the tile

After the first Tests with the rising and lowering mechanism, I had a problem. After rising the Tile, the Solonoid stayed in the risen position, because the magnets where too strong. I first tried to solve the problem by just moving away, but the lifting head sticked into the TilePlate, what lead to a blockage. The solution was to making the TilePin longer and the SolonoidCap shorter. The change was 4mm. I also chamfered the SolonoidCap, what gave me some safety.

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First succesfull Lifting Tests

W19

Final Week