> For the complete documentation index, see [llms.txt](https://longer-vision-robot.gitbook.io/arduino-full-stack/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://longer-vision-robot.gitbook.io/arduino-full-stack/15_assembling/01_4wheel_dcmotor_driven.md).

# 15.1 4-Wheel DC-Motor Driven

As shown in [**Chapter 12.1 - DC Motor**](/arduino-full-stack/12_motors/01_dcmotor.md), one DC motor has been successfully driven by a very simple sketch.

Our very first step is to manually install these 4 wheels onto the vehicle chassis.

## Step 1: Solder 4 DC Motors

In fact, student who come to take our courses on-site will be given 4 already-soldered DC motors, as follows:

![4 Wheels](https://2341898987-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LCFDbcteyTR3tQSs-5x%2F-LCFE4dCRQBMq1ajywfh%2F-LCFEMMtNd4yCuRwB9O5%2F4Wheels.jpg?generation=1526059596751496\&alt=media)

## Step 2: Assemble 4 DC Motors and 4 Speed Encoders onto 4 Wheels on Vehicle Chassis

We first list all chassis components as follows:

![Vehicle Chassis Components](https://2341898987-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LCFDbcteyTR3tQSs-5x%2F-LCFE4dCRQBMq1ajywfh%2F-LCFEMNH43HPfcgIbLKC%2Fvehicle_chassis_components.jpg?generation=1526059615974260\&alt=media)

Then, we installed the **FIRST** wheel as follows:

![Assemble Chassis 1](https://2341898987-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LCFDbcteyTR3tQSs-5x%2F-LCFE4dCRQBMq1ajywfh%2F-LCFEMOOWJzzMzvBVmXP%2Fassemble_chassis_01.jpg?generation=1526059596809059\&alt=media)

It's quite clear that on any of the Acrylic plate, namely, the vehicle chassis, there are 4 indents (as shown in the above image), which are just for stablizing the DC motors by 2 peices of small Acrylic plugin boards.

After installing 4 DC motors and 4 speed encoders, the vehicle looks like:

![Assemble Chassis 2](https://2341898987-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LCFDbcteyTR3tQSs-5x%2F-LCFE4dCRQBMq1ajywfh%2F-LCFEMOmlzdy7TX7CsSZ%2Fassemble_chassis_02.jpg?generation=1526059615924187\&alt=media)

## Step 3: Assemble Top Acrylic Plate With 6 Nylon Columns

With 6 Nylon columns (pillars), the top Acrylic board can be fixed as follows:

![Assemble Chassis 3](https://2341898987-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LCFDbcteyTR3tQSs-5x%2F-LCFE4dCRQBMq1ajywfh%2F-LCFEMPlx33sINhmKdbp%2Fassemble_chassis_03.jpg?generation=1526059615904313\&alt=media)