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.
21 // 3/16 inch in mm deck_depth = 4.7625;
22 // 1/4 inch in mm = 6.35
23 // subtract a little to be a squeeze fit
24 deck_depth
= 4.7625 - 0.4;
25 // sonar sensor measurements taken with calipers:
26 // 10.82 in between, 42.33 outside, 15.82 diameter
27 // measured diameter of 15.82 with calipers,
28 // but when printed ends up being too small, so add some
29 sonar_diameter
= 15.82 + 0.4;
30 sonar_radius
= sonar_diameter
/ 2;
32 between_sonar_centers
= sonar_diameter
+ 10.82;
33 // the sonar cylinders are placed on the pcb at slightly different positions
34 // from one sensor to the next, so this allows for that variance.
35 between_sonar_centers_variance
= 2;
36 // keep at least this much plastic surrounding the sonar cylinder on all sides
38 sonar_holder_length
= buffer
+ between_sonar_centers
+ sonar_diameter
+ buffer
;
39 sonar_holder_width
= buffer
+ sonar_diameter
+ buffer
;
40 // sonar_holder_depth is deck_depth minus a little bit to make arm fit
42 sonar_holder_depth
= deck_depth
- 0.7875;
44 deck_holder_length
= sonar_holder_depth
* 2 + deck_depth
+ 15;
47 translate([between_sonar_centers
/ 2, 0, 0]){
48 cylinder(r
= sonar_radius
, h
= sonar_height
);}
49 // for the variance with which the physical sonar cylinders are placed
50 translate([between_sonar_centers
/ 2 - between_sonar_centers_variance
, 0, 0]){
51 cylinder(r
= sonar_radius
, h
= sonar_height
);
52 translate([0, -sonar_radius
, 0]){
53 cube([between_sonar_centers_variance
, sonar_diameter
, sonar_height
]);}}
54 translate([-between_sonar_centers
/ 2, 0, 0]){
55 cylinder(r
= sonar_radius
, h
= sonar_height
);}}
57 module
sonar_holder(){
58 elbow_length
= deck_depth
- 0.5;
59 rounded_corner_radius
= buffer
;
61 cube([sonar_holder_length
, sonar_holder_width
, sonar_holder_depth
]);
62 translate([sonar_holder_length
/ 2, sonar_holder_width
/ 2, -0.05]){
64 translate([sonar_holder_length
- rounded_corner_radius
,
65 sonar_holder_width
- rounded_corner_radius
,
67 corner_rounder(rounded_corner_radius
, sonar_holder_depth
);}}
68 translate([sonar_holder_length
, 0, 0]){
69 cube([elbow_length
, deck_depth
, sonar_holder_depth
]);
70 translate([elbow_length
, 0, 0]){
71 linear_extrude(height
= sonar_holder_depth
){
73 [sonar_holder_depth
, 0],
74 [sonar_holder_depth
, sonar_holder_width
/ 2],
76 sonar_holder_width
/ 2 + sonar_holder_depth
]]);}
77 translate([0, (sonar_holder_width
+ sonar_holder_depth
) / 2, 0]){
78 cube([sonar_holder_depth
/ 2,
79 (sonar_holder_width
- sonar_holder_depth
) / 2 + 0.8,
80 sonar_holder_depth
]);}
81 translate([-1.7, sonar_holder_width
+ 0.8, 0]){
82 linear_extrude(height
= sonar_holder_depth
){
84 [sonar_holder_depth
/ 2 + 1.7, 4],
85 [sonar_holder_depth
/ 2 + 1.7, 0]]);}}}}}
88 deck_holder_width
= sonar_holder_width
- deck_depth
;
89 deck_holder_height
= sonar_holder_depth
* 2 + deck_depth
;
90 linear_extrude(height
= deck_holder_width
){
92 square([deck_holder_length
, deck_holder_height
]);
93 translate([sonar_holder_depth
, sonar_holder_depth
]){
95 translate([deck_holder_height
, sonar_holder_depth
]){
96 square([deck_holder_length
- (deck_holder_height
), deck_depth
]);}}}
97 translate([deck_holder_length
- oshw_dy
* 0.05, 0, deck_holder_width
/ 2])
99 rotate(v
= [1, 0, 0], a
= 90)
101 linear_extrude(height
= 0.5)
103 translate([deck_holder_length
- oshw_dy
* 0.05,
104 deck_holder_height
+ 0.5,
105 deck_holder_width
/ 2])
106 rotate(v
= [1, 0, 0], a
= 90)
109 linear_extrude(height
= 0.5)
112 module
corner_rounder_2d(radius
){
117 module
corner_rounder(radius
, height
){
118 linear_extrude(height
= height
){
119 corner_rounder_2d(radius
);}}
123 translate([0, sonar_holder_depth
* 2 + deck_depth
+ 2, 0]){