Merge pull request #16 from dalethomas81/dev

update documentation

Robots/AR4/CAD/README.MD

@@ -1,6 +1,7 @@
 ## EtherCAT Wedge
 
 The EtherCAT Wedge is a device that mounts between the J1 base enclosure and J1 base lid of the AR4 and houses the EtherCAT communication card used to connect the AR4 drives with the CODESYS PLC.  
+<img src="https://github.com/dalethomas81/ArfBotOS/blob/main/Robots/AR4/Media/Wedge-Fusion.png" alt="menu" width="600"/> 
 
 ### Fabrication
 I have included the Fusion 360 files so that you may modify it as you like. Additionally, you can print the *Wedge.stl* file directly using a slicer like Cura.  
@@ -16,5 +17,6 @@ Cura Settings:
 1. Print the EtherCAT Wedge using a 3d printer.
 2. Remove the AR4 J1 base lid.
 3. Rewire the encoders, stepper drives, and limit switches according to the Fritzing electrical drawing located [here](https://github.com/dalethomas81/ArfBotOS/blob/main/Robots/AR4/Electrical/README.MD). _note: the stock wiring of the AR4 needed to be modified slightly to accomodate SPI communication for EtherCAT._
-4. Insert the EVB-LAN9252-SPI into the Wedge. This is made to be a snug fit.
+4. Insert the EVB-LAN9252-SPI into the Wedge. This is made to be a snug fit.  
+<img src="https://github.com/dalethomas81/ArfBotOS/blob/main/Robots/AR4/Media/EtherCAT-Installed-In-Wedge.png" alt="menu" width="600"/> 
 5. Mount the wedge in between the base and lid and secure the lid using M3x40mm machine screws. _note: you will need to use a drill bit to open the holes enough to accomodate the larger machine screws. DO NOT DRILL INTO THE BASE HOLES!!! These will need to remain tight to hold the screw threads._  

Robots/AR4/Electrical/README.md

@@ -12,5 +12,7 @@ The schematic detailing all of the electrical connections can be found [here](ht
 
 The EtherCAT slave board (EVB-LAN9252-SPI) communicates with the Teensy 4.1 microcontroller using SPI. For this reason, the SPI pins 10, 11, 12, and 13 on the Teensy needed to be freed up opposed to the stock connections of the AR4.  
 
-1. Solder short wires to the 6 connections for `gnd`, `3v3`, `miso`, `mosi`, `sck`, and `cs` on the bottom side of the EtherCAT Slave Controller.
-2. Keeping the wires as short as possible to reduce EMI - connect them each to the appropriate terminal on the Teensy controller.  
+1. Solder short wires to the 6 connections for `gnd`, `3v3`, `miso`, `mosi`, `sck`, and `cs` on the bottom side of the EtherCAT Slave Controller.  
+<img src="https://github.com/dalethomas81/ArfBotOS/blob/main/Robots/AR4/Media/EtherCAT-Solder-Underside.png" alt="menu" width="600"/> 
+2. Keeping the wires as short as possible to reduce EMI - connect them each to the appropriate terminal on the Teensy controller.  
+<img src="https://github.com/dalethomas81/ArfBotOS/blob/main/Robots/AR4/Media/EtherCAT-Wired.png" alt="menu" width="600"/> 

Robots/AR4/Setup/Programming.md

@@ -13,16 +13,21 @@
 
 1. Clone the [EasyCAT](https://github.com/dslemusp/EasyCAT) repo.
 2. Open the Easy Configurator located here in the repo `EasyCAT\configurator\Exe\EasyCAT_Config_GUI.exe`.
-3. With the Microchip EVB-LAN9252-SPI powered, connect an ethernet cable from your computer to the `In` port (left side).
+3. With the Microchip EVB-LAN9252-SPI powered, connect an ethernet cable from your computer to the `In` port (left side).  
+<img src="https://github.com/dalethomas81/ArfBotOS/blob/main/Robots/AR4/Media/EtherCAT-Arduino-Firmware-Flash.png" alt="menu" width="600"/>
 4. Click on *Write EEPROM* and select the 32 input by 32 output configuration file located here in the repo `EasyCAT\configurator\StandardMode_BinFiles\EasyCAT_32_32_rev_1.bin`.
 5. Wait for programming to be complete. if programming fails, refer to troubleshooting at www.bausano.net  
 <img src="https://github.com/dalethomas81/ArfBotOS/blob/main/Robots/AR4/Media/EasyCAT-Confirm.png" alt="menu" width="600"/>  
 
-_note: if you are not using the EK1100, EL1809, and EL2809 (remote input and output) you may see a `Networkadapter opened` error in the EtherCAT Master device in CODESYS. In this case, you will need to disable the unused devices and download the program again._
+_note: if you are not using the EK1100, EL1809, and EL2809 (remote input and output) you may see a `Networkadapter opened` error in the EtherCAT Master device in CODESYS. In this case, you will need to disable the unused devices and download the program again._  
+<img src="https://github.com/dalethomas81/ArfBotOS/blob/main/Robots/AR4/Media/EtherCat-Error-NetworkOpened.png" alt="menu" width="600"/>  
 
 ### Disable Unused IO
 
 1. Make sure you are offline with the PLC from within CODESYS.
 2. Find the EK1100 in the Device Tree.
-3. Right-click and select Disable (this will not show if you are online with the PLC).
-4. Download the project by selecting Online->Multiple Download and following the prompts. The EtherCAT chain will now be restored working with only the AR4 robot connected.
+3. Right-click and select Disable (this will not show if you are online with the PLC).  
+<img src="https://github.com/dalethomas81/ArfBotOS/blob/main/Robots/AR4/Media/EtherCAT-Disable-Unused.png" alt="menu" width="600"/> 
+4. Download the project by selecting Online->Multiple Download and following the prompts. The EtherCAT chain will now be restored working with only the AR4 robot connected.  
+<img src="https://github.com/dalethomas81/ArfBotOS/blob/main/Robots/AR4/Media/EtherCAT-Running-After-Disable-Unused.png" alt="menu" width="600"/> 
+