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1 | // challenge-bot |
2 | // GNU AGPLv3 (or later at your option) |
3 | // project available at these locations: |
4 | // https://gitorious.org/ozzloy/challenge-bot |
5 | // https://github.com/waynegramlich/challenge-bot |
6 | |
7 | /* |
8 | this holds an hc-sr04 sonar sensor to a 3/16 inch deck. |
9 | http://fritzing.org/projects/hc-sr04-project |
10 | it can hold the sonar sensor either facing down, or forwards. |
11 | when facing down, it can detect if it passes over the edge of a table. |
12 | when facing forwards, it can detect and follow something in front of it. |
13 | */ |
14 | |
15 | $fn = 60; |
16 | |
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17 | // 3/16 inch in mm deck_depth = 4.7625; |
18 | // 1/4 inch in mm = 6.35 |
19 | // subtract a little to be a squeeze fit |
20 | deck_depth = 4.7625 - 0.4; |
21 | // sonar sensor measurements taken with calipers: |
22 | // 10.82 in between, 42.33 outside, 15.82 diameter |
23 | // measured diameter of 15.82 with calipers, |
24 | // but when printed ends up being too small, so add some |
25 | sonar_diameter = 15.82 + 0.4; |
26 | sonar_radius = sonar_diameter / 2; |
27 | sonar_height = 13.8; |
28 | between_sonar_centers = sonar_diameter + 10.82; |
29 | // the sonar cylinders are placed on the pcb at slightly different positions |
30 | // from one sensor to the next, so this allows for that variance. |
31 | between_sonar_centers_variance = 2; |
32 | // keep at least this much plastic surrounding the sonar cylinder on all sides |
33 | buffer = 3; |
34 | sonar_holder_length = buffer + between_sonar_centers + sonar_diameter + buffer; |
35 | sonar_holder_width = buffer + sonar_diameter + buffer; |
36 | // sonar_holder_depth is deck_depth minus a little bit to make arm fit |
37 | // into deck holder |
38 | sonar_holder_depth = deck_depth - 0.7875; |
39 | |
40 | deck_holder_length = sonar_holder_depth * 2 + deck_depth + 15; |
41 | module sonar_holder_2d() { |
42 | difference() { |
43 | square([sonar_holder_length, sonar_holder_width]); } } |
44 | |
45 | module sonars() { |
46 | translate([between_sonar_centers / 2, 0, 0]) { |
47 | cylinder(r = sonar_radius, h = sonar_height); } |
48 | // for the variance with which the physical sonar cylinders are placed |
49 | translate([between_sonar_centers / 2 - between_sonar_centers_variance, 0, 0]) { |
50 | cylinder(r = sonar_radius, h = sonar_height); |
51 | translate([0, -sonar_radius, 0]) { |
52 | cube([between_sonar_centers_variance, sonar_diameter, sonar_height]); } } |
53 | translate([-between_sonar_centers / 2, 0, 0]) { |
54 | cylinder(r = sonar_radius, h = sonar_height); } } |
55 | |
56 | module sonar_holder() { |
57 | elbow_length = deck_depth - 0.5; |
58 | rounded_corner_radius = buffer; |
59 | difference() { |
60 | cube([sonar_holder_length, sonar_holder_width, sonar_holder_depth]); |
61 | translate([sonar_holder_length / 2, sonar_holder_width / 2, -0.05]) { |
62 | sonars(); } |
63 | translate([sonar_holder_length, |
64 | sonar_holder_width, |
65 | 0]) { |
66 | corner_rounder(rounded_corner_radius, |
67 | sonar_holder_depth, |
68 | "bottom-right"); } } |
69 | translate([sonar_holder_length, 0, 0]) { |
70 | cube([elbow_length, deck_depth, sonar_holder_depth]); |
71 | translate([elbow_length, 0, 0]) { |
72 | linear_extrude(height = sonar_holder_depth) { |
73 | polygon([[ 0, 0], |
74 | [sonar_holder_depth, 0], |
75 | [sonar_holder_depth, sonar_holder_width / 2], |
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76 | [ 0, sonar_holder_width / 2 |
77 | + sonar_holder_depth]]); } |
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78 | translate([0, (sonar_holder_width + sonar_holder_depth) / 2, 0]) { |
79 | cube([sonar_holder_depth / 2, |
80 | (sonar_holder_width - sonar_holder_depth) / 2 + 0.8, |
81 | sonar_holder_depth]); } |
82 | translate([-1.7, sonar_holder_width + 0.8, 0]) { |
83 | linear_extrude(height = sonar_holder_depth) { |
84 | polygon([[ 0, 0], |
85 | [sonar_holder_depth / 2 + 1.7, 4], |
86 | [sonar_holder_depth / 2 + 1.7, 0]]); } } } } } |
87 | |
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88 | module corner_rounder_2d(radius, corner_name = "top-left") { |
89 | rotate_for_corner = (corner_name == "top-left") ? 0 : |
90 | ((corner_name == "top-right") ? -90 : |
91 | ((corner_name == "bottom-left") ? 90 : |
92 | ((corner_name == "bottom-right") ? 180 : |
93 | 1 / 0))); |
94 | rotate(rotate_for_corner) { |
95 | difference() { |
96 | square(radius); |
97 | translate([radius, radius]) { |
98 | circle(radius); } } } } |
99 | |
100 | module corner_rounder(radius, height, corner_name = "top-left") { |
101 | linear_extrude(height = height) { |
102 | corner_rounder_2d(radius, corner_name); } } |