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
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.
18 // 3/16 inch in mm deck_depth = 4.7625;
19 // 1/4 inch in mm = 6.35
20 // subtract a little to be a squeeze fit
21 deck_depth
= 4.7625 - 0.4;
22 // sonar sensor measurements taken with calipers:
23 // 10.82 in between, 42.33 outside, 15.82 diameter
24 // measured diameter of 15.82 with calipers,
25 // but when printed ends up being too small, so add some
26 sonar_diameter
= 15.82 + 0.4;
27 sonar_radius
= sonar_diameter
/ 2;
29 between_sonar_centers
= sonar_diameter
+ 10.82;
30 // the sonar cylinders are placed on the pcb at slightly different positions
31 // from one sensor to the next, so this allows for that variance.
32 between_sonar_centers_variance
= 2;
33 // keep at least this much plastic surrounding the sonar cylinder on all sides
35 sonar_holder_length
= buffer
+ between_sonar_centers
+ sonar_diameter
+ buffer
;
36 sonar_holder_width
= buffer
+ sonar_diameter
+ buffer
;
37 // sonar_holder_depth is deck_depth minus a little bit to make arm fit
39 sonar_holder_depth
= deck_depth
- 0.7875;
41 deck_holder_length
= sonar_holder_depth
* 2 + deck_depth
+ 15;
46 // 3/16 inch in mm deck_depth = 4.7625;
47 // 1/4 inch in mm = 6.35
48 // subtract a little to be a squeeze fit
49 deck_depth
= 4.7625 - 0.4;
50 // sonar sensor measurements taken with calipers:
51 // 10.82 in between, 42.33 outside, 15.82 diameter
52 // measured diameter of 15.82 with calipers,
53 // but when printed ends up being too small, so add some
54 sonar_diameter
= 15.82 + 0.4;
55 sonar_radius
= sonar_diameter
/ 2;
57 between_sonar_centers
= sonar_diameter
+ 10.82;
58 // the sonar cylinders are placed on the pcb at slightly different positions
59 // from one sensor to the next, so this allows for that variance.
60 between_sonar_centers_variance
= 2;
61 // keep at least this much plastic surrounding the sonar cylinder on all sides
63 sonar_holder_length
= buffer
+ between_sonar_centers
+ sonar_diameter
+ buffer
;
64 sonar_holder_width
= buffer
+ sonar_diameter
+ buffer
;
65 // sonar_holder_depth is deck_depth minus a little bit to make arm fit
67 sonar_holder_depth
= deck_depth
- 0.7875;
69 deck_holder_length
= sonar_holder_depth
* 2 + deck_depth
+ 15;
72 translate([between_sonar_centers
/ 2, 0, 0]) {
73 cylinder(r
= sonar_radius
, h
= sonar_height
); }
74 // for the variance with which the physical sonar cylinders are placed
75 translate([between_sonar_centers
/ 2 - between_sonar_centers_variance
, 0, 0]) {
76 cylinder(r
= sonar_radius
, h
= sonar_height
);
77 translate([0, -sonar_radius
, 0]) {
78 cube([between_sonar_centers_variance
, sonar_diameter
, sonar_height
]); } }
79 translate([-between_sonar_centers
/ 2, 0, 0]) {
80 cylinder(r
= sonar_radius
, h
= sonar_height
); } }
82 module
sonar_holder() {
83 elbow_length
= deck_depth
;
84 rounded_corner_radius
= buffer
;
86 cube([sonar_holder_length
, sonar_holder_width
, sonar_holder_depth
]);
87 translate([sonar_holder_length
/ 2, sonar_holder_width
/ 2, -0.05]) {
89 translate([sonar_holder_length
- rounded_corner_radius
,
90 sonar_holder_width
- rounded_corner_radius
,
92 corner_rounder(rounded_corner_radius
, sonar_holder_depth
); } }
93 translate([sonar_holder_length
, 0, 0]) {
94 cube([elbow_length
, deck_depth
, sonar_holder_depth
]);
95 translate([elbow_length
, 0, 0]) {
96 linear_extrude(height
= sonar_holder_depth
) {
98 [sonar_holder_depth
, 0],
99 [sonar_holder_depth
, sonar_holder_width
/ 2],
101 sonar_holder_width
/ 2 + sonar_holder_depth
]]); }
102 translate([0, (sonar_holder_width
+ sonar_holder_depth
) / 2, 0]) {
103 cube([sonar_holder_depth
/ 2,
104 (sonar_holder_width
- sonar_holder_depth
) / 2 + 0.8,
105 sonar_holder_depth
]); }
106 translate([-1.7, sonar_holder_width
+ 0.8, 0]) {
107 linear_extrude(height
= sonar_holder_depth
) {
109 [sonar_holder_depth
/ 2 + 1.7, 4],
110 [sonar_holder_depth
/ 2 + 1.7, 0]]); } } } } }
112 module
deck_holder() {
113 deck_holder_width
= sonar_holder_width
- deck_depth
;
114 deck_holder_height
= sonar_holder_depth
* 2 + deck_depth
;
115 linear_extrude(height
= deck_holder_width
) {
117 square([deck_holder_length
, deck_holder_height
]);
118 translate([sonar_holder_depth
- 0.15, sonar_holder_depth
- 0.15]) {
119 square(deck_depth
+ 0.3); }
120 translate([deck_holder_height
, sonar_holder_depth
- 0.3]) {
121 square([deck_holder_length
- (deck_holder_height
),
122 deck_depth
+ 0.6]); } } }
123 translate([deck_holder_length
- oshw_dy
* 0.05, 0, deck_holder_width
/ 2])
125 rotate(v
= [1, 0, 0], a
= 90)
127 linear_extrude(height
= 0.5)
129 translate([deck_holder_length
- oshw_dy
* 0.05,
130 deck_holder_height
+ 0.5,
131 deck_holder_width
/ 2])
132 rotate(v
= [1, 0, 0], a
= 90)
135 linear_extrude(height
= 0.5)
138 module
corner_rounder_2d(radius
) {
143 module
corner_rounder(radius
, height
) {
144 linear_extrude(height
= height
) {
145 corner_rounder_2d(radius
); } }