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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 | |
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7 | wheel_depth = 7.65; |
8 | wheel_radius = 68/2; |
9 | |
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10 | module encoder_shaft(){ |
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11 | motor_shaft_big = 3.7; |
12 | motor_shaft_small = 4.8; |
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13 | motor_shaft_length = wheel_depth / 2; |
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14 | |
15 | intersection(){ |
16 | cylinder(h = motor_shaft_length, |
17 | r = motor_shaft_big, |
18 | center = true, |
19 | $fn=100); |
20 | cube([motor_shaft_big * 2.1, motor_shaft_small, motor_shaft_length], |
21 | center = true);}} |
22 | |
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23 | module mounting_screw(){ |
24 | cylinder(h = wheel_depth * 1.1, r = 1, $fn = 100, center = true);} |
25 | |
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26 | module wheel(){ |
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27 | translate([0, 0, wheel_depth / 2]){ |
28 | difference(){ |
29 | cylinder(h = wheel_depth, r = wheel_radius, center = true, $fn=100); |
30 | translate([0, 0, wheel_depth/4]){ |
31 | scale([1, 1, 1.1]){ |
32 | encoder_shaft();}} |
33 | mounting_screw(); |
34 | for(i = [0 : 4]){ |
35 | rotate(i * 360/5, [0, 0, 1]){ |
36 | translate([0, 0, -0.6 * wheel_depth]) |
37 | between_spokes();}}}}} |
38 | |
39 | module wheel_block(){ |
40 | cube([wheel_radius, wheel_radius, wheel_depth]);} |
41 | |
42 | module pie_slice(){ |
43 | intersection(){ |
44 | translate([0, 0, wheel_depth / 2]){ |
45 | cylinder(h = wheel_depth, |
46 | r = 0.7 * wheel_radius, |
47 | center = true);} |
48 | translate([0, wheel_radius * 0.3, 0]){ |
49 | rotate([0, 0, (360/5)/2]){ |
50 | intersection(){ |
51 | wheel_block(); |
52 | rotate([0, 0, 90 - 360/5]) |
53 | wheel_block();}}}}} |
54 | |
55 | module between_spokes(){ |
56 | minkowski(){ |
57 | pie_slice(); |
58 | cylinder(h = wheel_depth, r = 1, $fn=100);}} |
59 | |
60 | wheel(); |