This chapter covered BOE Shield-Bot assembly and testing.  Assembly involved both mechanical construction and circuit-building, and testing used some new programming concepts.  Here are the highlights:

Hardware Setup

• Mounting the servos on the robot chassis
• Attaching the wheels to the servo motors, and the tail wheel to the chassis
• Mounting the BOE Shield with the Arduino onto the chassis

Electronics

• What a piezoelectric speaker is, and how to add one to the BOE Shield-Bot’s breadboard circuits
• What frequency is, the units for measuring it, and what frequency range is audible to human hearing
• What a low-battery brownout condition is, and how certain servo maneuvers can cause it

Programming 

• How to use the Ardunio’s tone function to play beeps on a piezospeaker
• What a serial buffer is, and how to use it with the Arduino’s Serial.available function  
• How to use the transmit pane of the Serial Monitor, and the Serial.read function, to send data to the Arduino
• How to use a for loop with an incrementing variable to change a servo’s RPM
• How to add tone function calls to a sketch to audibly indicate the completion of a programming task

Engineering Skills

• Implementing a brownout indicator strategy to help determine if unexpected robot behavior is due to a low-battery condition, and not a programming error
• What a transfer curve graph is, and how it can be useful to understand the servo control signal vs. servo RPM relationship