Modifications

== Moteurs ==

== Moteurs ==

# Align the motor clips with the chassis as indicated and press them firmly into the chassis until the bottom of the clips are even with the bottom of the chassis (you may hear several clicks).

1. Align the motor clips with the chassis as indicated and press them firmly into the chassis until the bottom of the clips are even with the bottom of the chassis (you may hear several clicks).

{{POLImage|Pololu-Romi-Chassis-Assembler-10.png|800px|Installer les clips moteurs sur le châssis Romi}}

{{POLImage|Pololu-Romi-Chassis-Assembler-10.png|800px|Installer les clips moteurs sur le châssis Romi}}

# '''Optional:''' If you are using the {{pl|1452|Romi Encoder Pair Kit}} {{polpl|3542}}, you can now install the encoder boards. The encoder boards are designed to be soldered directly to the back of the motor, with the back shaft of the motor protruding through the hole in the middle of the circuit board. One way to achieve good alignment between the board and the motor is to tack down the board to one motor pin and to solder the other pin only when the board is flat and well aligned. Be careful to avoid prolonged heating of the motor pins, which could deform the motor case or brushes. If you are using one of our boards that are designed for these encoders to plug directly into, the encoder pins need to be installed pointing down toward the chassis as shown in the picture below. In order to help line up the header pins before soldering them, you can hold off soldering them to the encoder board until after the motors are installed in the next step.

2. '''Optional:''' If you are using the {{pl|1452|Romi Encoder Pair Kit}} {{polpl|3542}}, you can now install the encoder boards. The encoder boards are designed to be soldered directly to the back of the motor, with the back shaft of the motor protruding through the hole in the middle of the circuit board. One way to achieve good alignment between the board and the motor is to tack down the board to one motor pin and to solder the other pin only when the board is flat and well aligned. Be careful to avoid prolonged heating of the motor pins, which could deform the motor case or brushes. If you are using one of our boards that are designed for these encoders to plug directly into, the encoder pins need to be installed pointing down toward the chassis as shown in the picture below. In order to help line up the header pins before soldering them, you can hold off soldering them to the encoder board until after the motors are installed in the next step.

{{POLImage|Pololu-Romi-Chassis-Assembler-11.png|500px|Installer un encodeur sur le mini moteur plastique}}

{{POLImage|Pololu-Romi-Chassis-Assembler-11.png|500px|Installer un encodeur sur le mini moteur plastique}}

Push the Mini Plastic Gearmotors into the motor clips until they snap into place. Note that the motor blocks the clip release, so if you need to remove a motor bracket later, you will first need to remove the motor. The Mini Plastic Gearmotors that come with the kit have extended motor shafts to enable quadrature encoders (not included) for position feedback.

3. Push the Mini Plastic Gearmotors into the motor clips until they snap into place. Note that the motor blocks the clip release, so if you need to remove a motor bracket later, you will first need to remove the motor. The Mini Plastic Gearmotors that come with the kit have extended motor shafts to enable quadrature encoders (not included) for position feedback.

{{POLImage|Pololu-Romi-Chassis-Assembler-12.png|500px|Installer les moteurs sur le châssis}}  

{{POLImage|Pololu-Romi-Chassis-Assembler-12.png|800px|Installer les moteurs sur le châssis}}

== Les roues et la boule ==

== Les roues et la boule ==