| 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 | wheel_depth = 7.65; |
| 8 | wheel_radius = 68/2; |
| 9 | |
| 10 | module encoder_shaft(){ |
| 11 | motor_shaft_big = 3.7; |
| 12 | motor_shaft_small = 4.8; |
| 13 | motor_shaft_length = wheel_depth / 2; |
| 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 | |
| 23 | module mounting_screw(){ |
| 24 | cylinder(h = wheel_depth * 1.1, r = 1, $fn = 100, center = true);} |
| 25 | |
| 26 | module wheel(){ |
| 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(); |