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1 | /* |
2 | Copyright (C) 2015 Daniel Watson |
3 | See the end of the file for license conditions. |
4 | */ |
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5 | // challenge-bot |
6 | // GNU AGPLv3 (or later at your option) |
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7 | // project available here: |
8 | // https://challenge-bot.com/ |
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9 | |
10 | /* |
11 | this holds an hc-sr04 sonar sensor to a 3/16 inch deck. |
12 | http://fritzing.org/projects/hc-sr04-project |
13 | it can hold the sonar sensor either facing down, or forwards. |
14 | when facing down, it can detect if it passes over the edge of a table. |
15 | when facing forwards, it can detect and follow something in front of it. |
16 | */ |
17 | |
18 | $fn = 60; |
19 | |
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20 | // 3/16 inch in mm deck_depth = 4.7625; |
21 | // 1/4 inch in mm = 6.35 |
22 | // subtract a little to be a squeeze fit |
23 | deck_depth = 4.7625 - 0.4; |
24 | // sonar sensor measurements taken with calipers: |
25 | // 10.82 in between, 42.33 outside, 15.82 diameter |
26 | // measured diameter of 15.82 with calipers, |
27 | // but when printed ends up being too small, so add some |
28 | sonar_diameter = 15.82 + 0.4; |
29 | sonar_radius = sonar_diameter / 2; |
30 | sonar_height = 13.8; |
31 | between_sonar_centers = sonar_diameter + 10.82; |
32 | // the sonar cylinders are placed on the pcb at slightly different positions |
33 | // from one sensor to the next, so this allows for that variance. |
34 | between_sonar_centers_variance = 2; |
35 | // keep at least this much plastic surrounding the sonar cylinder on all sides |
36 | buffer = 3; |
37 | sonar_holder_length = buffer + between_sonar_centers + sonar_diameter + buffer; |
38 | sonar_holder_width = buffer + sonar_diameter + buffer; |
39 | // sonar_holder_depth is deck_depth minus a little bit to make arm fit |
40 | // into deck holder |
41 | sonar_holder_depth = deck_depth - 0.7875; |
42 | |
43 | deck_holder_length = sonar_holder_depth * 2 + deck_depth + 15; |
44 | module sonar_holder_2d() { |
45 | difference() { |
46 | square([sonar_holder_length, sonar_holder_width]); } } |
47 | |
48 | module sonars() { |
49 | translate([between_sonar_centers / 2, 0, 0]) { |
50 | cylinder(r = sonar_radius, h = sonar_height); } |
51 | // for the variance with which the physical sonar cylinders are placed |
52 | translate([between_sonar_centers / 2 - between_sonar_centers_variance, 0, 0]) { |
53 | cylinder(r = sonar_radius, h = sonar_height); |
54 | translate([0, -sonar_radius, 0]) { |
55 | cube([between_sonar_centers_variance, sonar_diameter, sonar_height]); } } |
56 | translate([-between_sonar_centers / 2, 0, 0]) { |
57 | cylinder(r = sonar_radius, h = sonar_height); } } |
58 | |
59 | module sonar_holder() { |
60 | elbow_length = deck_depth - 0.5; |
61 | rounded_corner_radius = buffer; |
62 | difference() { |
63 | cube([sonar_holder_length, sonar_holder_width, sonar_holder_depth]); |
64 | translate([sonar_holder_length / 2, sonar_holder_width / 2, -0.05]) { |
65 | sonars(); } |
66 | translate([sonar_holder_length, |
67 | sonar_holder_width, |
68 | 0]) { |
69 | corner_rounder(rounded_corner_radius, |
70 | sonar_holder_depth, |
71 | "bottom-right"); } } |
72 | translate([sonar_holder_length, 0, 0]) { |
73 | cube([elbow_length, deck_depth, sonar_holder_depth]); |
74 | translate([elbow_length, 0, 0]) { |
75 | linear_extrude(height = sonar_holder_depth) { |
76 | polygon([[ 0, 0], |
77 | [sonar_holder_depth, 0], |
78 | [sonar_holder_depth, sonar_holder_width / 2], |
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79 | [ 0, sonar_holder_width / 2 |
80 | + sonar_holder_depth]]); } |
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81 | translate([0, (sonar_holder_width + sonar_holder_depth) / 2, 0]) { |
82 | cube([sonar_holder_depth / 2, |
83 | (sonar_holder_width - sonar_holder_depth) / 2 + 0.8, |
84 | sonar_holder_depth]); } |
85 | translate([-1.7, sonar_holder_width + 0.8, 0]) { |
86 | linear_extrude(height = sonar_holder_depth) { |
87 | polygon([[ 0, 0], |
88 | [sonar_holder_depth / 2 + 1.7, 4], |
89 | [sonar_holder_depth / 2 + 1.7, 0]]); } } } } } |
90 | |
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91 | module corner_rounder_2d(radius, corner_name = "top-left") { |
92 | rotate_for_corner = (corner_name == "top-left") ? 0 : |
93 | ((corner_name == "top-right") ? -90 : |
94 | ((corner_name == "bottom-left") ? 90 : |
95 | ((corner_name == "bottom-right") ? 180 : |
96 | 1 / 0))); |
97 | rotate(rotate_for_corner) { |
98 | difference() { |
99 | square(radius); |
100 | translate([radius, radius]) { |
101 | circle(radius); } } } } |
102 | |
103 | module corner_rounder(radius, height, corner_name = "top-left") { |
104 | linear_extrude(height = height) { |
105 | corner_rounder_2d(radius, corner_name); } } |
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106 | |
107 | /* |
108 | This file is part of challenge-bot. |
109 | |
110 | Challenge-bot is free software: you can redistribute it and/or modify |
111 | it under the terms of the GNU Affero General Public License as published by |
112 | the Free Software Foundation, either version 3 of the License, or |
113 | (at your option) any later version. |
114 | |
115 | GNU Affero Emacs is distributed in the hope that it will be useful, |
116 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
117 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
118 | GNU Affero General Public License for more details. |
119 | |
120 | You should have received a copy of the GNU Affero General Public License |
121 | along with challenge-bot. If not, see <http://www.gnu.org/licenses/>. |
122 | */ |