Merge pull request #175 from sourcebots/physical-robot

Add a basic physical robot page

Author: RealOrangeOne

content/api/servos.md

@@ -0,0 +1,35 @@
+---
+title: Servos
+---
+
+{{% notice note %}}
+Servos only apply to the [physical robot](/robots/physical/).
+{{% /notice %}}
+
+You can control attached servo motors from the [Arduino](../arduino/). By default, servos will be unpowered when your robot starts, and can freely rotate when turned by hand. Upon setting a value, they will hold the corresponding position. They will become unpowered again when you turn off your robot, unplug your USB stick, or set their position to the special value `None`.
+
+## Querying servos
+
+The servo assembly can interface with up to sixteen servos connected to it.
+
+```python
+servo_zero = r.arduino.servos[0]
+```
+
+{{% notice tip %}}
+Servo can be connected to any port, you don't have to start at 0!
+{{% /notice %}}
+
+## Controlling servos
+
+Servos can be controlled using the `position` parameter. This should be set to a value between -1 and 1.
+
+```python
+servo_zero.position = 0.65
+print(servo_zero.position)
+>>> 0.65
+```
+
+{{% notice tip %}}
+When `position` is set to `None`, the servo loses power and can freely rotate. This is the same state they're in at start-up.
+{{% /notice %}}

content/robots/_index.md

@@ -8,4 +8,6 @@ In this year's competition we have 2 Robots, which are each controlled by their
 - [Crane Robot](crane) which is controlled by `crane.py`.
 - [Forklift Robot](forklift) which is controlled by `forklift.py`.
 
-See [the API section](../api/) for more details on how to run your code.
+There is also a [Physical Robot](physical).
+
+See [the API section](../api/) for more details on how to run your code.

content/robots/physical.md

@@ -0,0 +1,23 @@
+---
+title: Physical robot
+---
+
+The physical robot is closely modelled after the [forklift](../forklift) robot, however is different in a few important ways. The physical robot has two [radial motors](/api/motor-board), allowing it to move itself around the arena.
+
+## Motor layout
+
+The layout of the motors attached to the motor boards for the forklift robot are as follows:
+
+- Motor Board 0:
+    - Motor 0 - Left wheel motor
+    - Motor 1 - Right wheel motor
+
+## Servos
+
+The front grabber is actuated by a single [servo](/api/servos), attached to the [Arduino](/api/arduino/#servos). It is plugged in to port 0.
+
+The servo will only let you move the grabber in a safe range. `-1` will open the grabber, and `1` will close the grabber.
+
+## Ultrasound
+
+The forklift has an [ultrasound sensor](/api/ultrasound) attached to the front of the robot. This sensor uses pin 4 as the trigger pin and 5 as the echo.