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.
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;
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
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
38 sonar_holder_depth
= deck_depth
- 0.7875;
40 deck_holder_length
= sonar_holder_depth
* 2 + deck_depth
+ 15;
41 module
sonar_holder_2d() {
43 square([sonar_holder_length
, sonar_holder_width
]); } }
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
); } }
56 module
sonar_holder() {
57 elbow_length
= deck_depth
- 0.5;
58 rounded_corner_radius
= buffer
;
60 cube([sonar_holder_length
, sonar_holder_width
, sonar_holder_depth
]);
61 translate([sonar_holder_length
/ 2, sonar_holder_width
/ 2, -0.05]) {
63 translate([sonar_holder_length
,
66 corner_rounder(rounded_corner_radius
,
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
) {
74 [sonar_holder_depth
, 0],
75 [sonar_holder_depth
, sonar_holder_width
/ 2],
76 [ 0, sonar_holder_width
/ 2
77 + sonar_holder_depth
]]); }
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
) {
85 [sonar_holder_depth
/ 2 + 1.7, 4],
86 [sonar_holder_depth
/ 2 + 1.7, 0]]); } } } } }
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 :
94 rotate(rotate_for_corner
) {
97 translate([radius
, radius
]) {
98 circle(radius
); } } } }
100 module
corner_rounder(radius
, height
, corner_name
= "top-left") {
101 linear_extrude(height
= height
) {
102 corner_rounder_2d(radius
, corner_name
); } }