-
Notifications
You must be signed in to change notification settings - Fork 1
/
robot.scad
329 lines (264 loc) · 15.8 KB
/
robot.scad
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
include <field.scad>;
include <parts.scad>;
// Chassis parameters
CHASSIS_WIDTH = 28;
CHASSIS_LENGTH = 28;
CHASSIS_CUTOUT_WIDTH = 16;
CHASSIS_FRONT_BUMPER_WIDTH = (CHASSIS_WIDTH-CHASSIS_CUTOUT_WIDTH) / 2;
CHASSIS_CUTOUT_DEPTH = 9;
// Chassis box tube parameters
BOX_TUBE_WIDTH = 1;
BOX_TUBE_HEIGHT = 2;
// Superstructure box tube parameters
SUPER_TUBE_WIDTH = 1;
SUPER_TUBE_HEIGHT = 1;
SUPER_HEIGHT = 3;
// Bumper parameters
BUMPER_THICK = 3.25;
BUMPER_HEIGHT = 5;
// Wheel parameters
WHEEL_DIAMETER = 6;
WHEEL_WIDTH = 1.5;
WHEEL_X_SPACING = 0.125; // Distance from edge of wheel to left and right box tubing.
WHEEL_Y_SPACING = 0.1875; // Distance from wheel to front and rear box tubing.
WHEEL_CENTER_OFFSET = 0.375; // Vertical offset for the wheels into the box tube.
// Climber parameters
CLIMBER_Y_LOC = 8.75;
CLIMBER_Z_OFFSET = SUPER_HEIGHT-2.5;
CLIMBER_CENTER_WIDTH = 2.5;
CLIMBER_WINCH_DIAMETER = 1.5;
// Other derived, useful parameters
BASE_CHASSIS_HEIGHT = (WHEEL_DIAMETER-BOX_TUBE_HEIGHT)/2-WHEEL_CENTER_OFFSET;
BUMPER_WIDTH = (CHASSIS_WIDTH-CHASSIS_CUTOUT_WIDTH)/2;
// Extra bar parameters
BAR_DIAMETER = 1;
BAR_HEIGHT = 4;
BAR_X_LOC = BUMPER_WIDTH; //+SUPER_TUBE_WIDTH;
BAR_Y_LOC = 5;
IO_ARM_X_POS = 4;
IO_ARM_Y_POS = 24;
IO_ARM_LENGTH = 11;
module io_arm(){
color([0.5,0.5,0.5]) translate([-.5,-.5,0]) cube([1,IO_ARM_LENGTH-.5,1]);
color([0.1,0.1,0.1]) translate([-.5,IO_ARM_LENGTH-1,0]) cube([2,2,1]);
color([0.9,0,0.9])translate([.5,IO_ARM_LENGTH,-.5]) cylinder(1, d=4, center=true, $fn=40);
}
module bumpers(width, length, cutout_width, thick, height) {
translate([-thick,-thick,0]) cube([thick,length+2*thick,height]);
translate([-thick,-thick,0]) cube([width+2*thick,thick,height]);
translate([width,-thick,0]) cube([thick,length+2*thick,height]);
translate([-thick,length,0])cube([thick+(width-cutout_width)/2,thick,height]);
translate([(width+cutout_width)/2,length,0])cube([thick+(width-cutout_width)/2,thick,height]);
}
module box_chassis(width, length, cutout_width, cutout_depth, climber_y_loc, climber_center_width) {
bumper_width = (width-cutout_width)/2;
// ---- CHASSIS ----
// Outer 3 beams
cube([width,BOX_TUBE_WIDTH,BOX_TUBE_HEIGHT]);
translate([0,0,0]) cube([BOX_TUBE_WIDTH,length,BOX_TUBE_HEIGHT]);
translate([width-BOX_TUBE_WIDTH,0,0]) cube([BOX_TUBE_WIDTH,length,BOX_TUBE_HEIGHT]);
// Front 2 bumpers
translate([0,length-BOX_TUBE_WIDTH,0]) cube([bumper_width,BOX_TUBE_WIDTH,BOX_TUBE_HEIGHT]);
translate([width-bumper_width,length-BOX_TUBE_WIDTH,0]) cube([bumper_width,BOX_TUBE_WIDTH,BOX_TUBE_HEIGHT]);
// Inner two channels
translate([bumper_width-BOX_TUBE_WIDTH,0,0]) cube([BOX_TUBE_WIDTH,length,BOX_TUBE_HEIGHT]);
translate([width-bumper_width,0,0]) cube([BOX_TUBE_WIDTH,length,BOX_TUBE_HEIGHT]);
// Cutout bridge
translate([bumper_width,length-cutout_depth-BOX_TUBE_WIDTH,0]) cube([cutout_width,BOX_TUBE_WIDTH,BOX_TUBE_HEIGHT]);
// Climber bottom beam
translate([bumper_width,climber_y_loc-BOX_TUBE_HEIGHT/2,CLIMBER_Z_OFFSET]) cube([cutout_width,BOX_TUBE_HEIGHT,BOX_TUBE_WIDTH]);
// ---- SUPER ----
translate([0,0,BOX_TUBE_HEIGHT]) {
// -- Pillars --
// Back pillars
cube([SUPER_TUBE_WIDTH,SUPER_TUBE_HEIGHT,SUPER_HEIGHT]);
translate([CHASSIS_WIDTH-BOX_TUBE_WIDTH,0,0]) cube([SUPER_TUBE_WIDTH,SUPER_TUBE_HEIGHT,SUPER_HEIGHT]);
translate([(CHASSIS_WIDTH-BOX_TUBE_WIDTH)/2,0,0]) cube([SUPER_TUBE_WIDTH,SUPER_TUBE_HEIGHT,SUPER_HEIGHT]);
FRONT_PILLAR_Y = 9; //length-cutout_depth-2*SUPER_TUBE_WIDTH;
// Front outer pillars
translate([0,FRONT_PILLAR_Y,0]) cube([SUPER_TUBE_WIDTH,SUPER_TUBE_HEIGHT,SUPER_HEIGHT]);
translate([CHASSIS_WIDTH-SUPER_TUBE_WIDTH,FRONT_PILLAR_Y,0]) cube([SUPER_TUBE_WIDTH,SUPER_TUBE_HEIGHT,SUPER_HEIGHT]);
// Front inner pillars
translate([bumper_width-SUPER_TUBE_WIDTH,FRONT_PILLAR_Y,0]) cube([SUPER_TUBE_WIDTH,SUPER_TUBE_HEIGHT,SUPER_HEIGHT]);
translate([width-bumper_width,FRONT_PILLAR_Y,0]) cube([SUPER_TUBE_WIDTH,SUPER_TUBE_HEIGHT,SUPER_HEIGHT]);
// Side beams
translate([width-SUPER_TUBE_WIDTH,0,SUPER_HEIGHT-SUPER_TUBE_HEIGHT]) cube([SUPER_TUBE_WIDTH,FRONT_PILLAR_Y,SUPER_TUBE_HEIGHT]);
translate([0,0,SUPER_HEIGHT-SUPER_TUBE_HEIGHT]) cube([SUPER_TUBE_WIDTH,FRONT_PILLAR_Y,SUPER_TUBE_HEIGHT]);
// Back beam
translate([0,0,SUPER_HEIGHT-SUPER_TUBE_HEIGHT]) cube([width,SUPER_TUBE_WIDTH,SUPER_TUBE_HEIGHT]);
// Front beams
translate([0,FRONT_PILLAR_Y,SUPER_HEIGHT-SUPER_TUBE_HEIGHT]) cube([(width-CLIMBER_CENTER_WIDTH)/2,SUPER_TUBE_WIDTH,SUPER_TUBE_HEIGHT]);
translate([(width+CLIMBER_CENTER_WIDTH)/2,FRONT_PILLAR_Y,SUPER_HEIGHT-SUPER_TUBE_HEIGHT]) cube([(width-CLIMBER_CENTER_WIDTH)/2,SUPER_TUBE_WIDTH,SUPER_TUBE_HEIGHT]);
// Inner beams
translate([(width-CLIMBER_CENTER_WIDTH)/2-SUPER_TUBE_WIDTH,0,SUPER_HEIGHT-SUPER_TUBE_HEIGHT]) cube([SUPER_TUBE_WIDTH,FRONT_PILLAR_Y,SUPER_TUBE_HEIGHT]);
translate([(width+CLIMBER_CENTER_WIDTH)/2,0,SUPER_HEIGHT-SUPER_TUBE_HEIGHT]) cube([SUPER_TUBE_WIDTH,FRONT_PILLAR_Y,SUPER_TUBE_HEIGHT]);
// Back bar pillars
translate([BAR_X_LOC-SUPER_TUBE_HEIGHT,0,SUPER_HEIGHT]) cube([SUPER_TUBE_WIDTH,SUPER_TUBE_HEIGHT,BAR_HEIGHT]);
translate([width-BAR_X_LOC,0,SUPER_HEIGHT]) cube([SUPER_TUBE_WIDTH,SUPER_TUBE_HEIGHT,BAR_HEIGHT]);
// Front bar pillars
translate([BAR_X_LOC-SUPER_TUBE_HEIGHT,FRONT_PILLAR_Y,SUPER_HEIGHT]) cube([SUPER_TUBE_WIDTH,SUPER_TUBE_HEIGHT,BAR_HEIGHT]);
translate([width-BAR_X_LOC,FRONT_PILLAR_Y,SUPER_HEIGHT]) cube([SUPER_TUBE_WIDTH,SUPER_TUBE_HEIGHT,BAR_HEIGHT]);
// Bar beams
translate([BAR_X_LOC-SUPER_TUBE_HEIGHT,0,SUPER_HEIGHT+BAR_HEIGHT-SUPER_TUBE_HEIGHT]) cube([SUPER_TUBE_WIDTH,FRONT_PILLAR_Y,SUPER_TUBE_HEIGHT]);
translate([width-BAR_X_LOC,0,SUPER_HEIGHT+BAR_HEIGHT-SUPER_TUBE_HEIGHT]) cube([SUPER_TUBE_WIDTH,FRONT_PILLAR_Y,SUPER_TUBE_HEIGHT]);
// Cross tube
translate([BAR_X_LOC,BAR_Y_LOC,SUPER_HEIGHT+BAR_HEIGHT-SUPER_TUBE_HEIGHT/2]) rotate([0,90,0]) cylinder(CHASSIS_WIDTH-2*BAR_X_LOC,d=BAR_DIAMETER, $fn=60);
}
}
module full_chassis(POSITION) {
// Box tube chassis
color([.2,.2,.2]) {
translate([0,0,BASE_CHASSIS_HEIGHT]) box_chassis(CHASSIS_WIDTH, CHASSIS_LENGTH, CHASSIS_CUTOUT_WIDTH, CHASSIS_CUTOUT_DEPTH, CLIMBER_Y_LOC, CLIMBER_CENTER_WIDTH);
}
// Bumpers
color([0.7,0,0]) {
translate([0,0,WHEEL_DIAMETER/2-BOX_TUBE_HEIGHT/2-WHEEL_CENTER_OFFSET]) bumpers(CHASSIS_WIDTH, CHASSIS_LENGTH, CHASSIS_CUTOUT_WIDTH, BUMPER_THICK, BUMPER_HEIGHT);
}
// (Lots) of wheels
color([0,0,.3]) {
translate([BOX_TUBE_WIDTH+WHEEL_X_SPACING,WHEEL_DIAMETER/2+BOX_TUBE_WIDTH+WHEEL_Y_SPACING,0]) wheel(WHEEL_DIAMETER, WHEEL_WIDTH);
translate([BOX_TUBE_WIDTH+WHEEL_X_SPACING,CHASSIS_LENGTH-(WHEEL_DIAMETER/2+BOX_TUBE_WIDTH+WHEEL_Y_SPACING),0]) wheel(WHEEL_DIAMETER, WHEEL_WIDTH);
translate([BOX_TUBE_WIDTH+WHEEL_X_SPACING,WHEEL_DIAMETER/2+BOX_TUBE_WIDTH+WHEEL_Y_SPACING+(CHASSIS_LENGTH-(WHEEL_DIAMETER+2.5))/2,0]) wheel(WHEEL_DIAMETER, WHEEL_WIDTH);
translate([CHASSIS_WIDTH-WHEEL_WIDTH-BOX_TUBE_WIDTH-WHEEL_X_SPACING,WHEEL_DIAMETER/2+BOX_TUBE_WIDTH+WHEEL_Y_SPACING,0]) wheel(WHEEL_DIAMETER, WHEEL_WIDTH);
translate([CHASSIS_WIDTH-WHEEL_WIDTH-BOX_TUBE_WIDTH-WHEEL_X_SPACING,CHASSIS_LENGTH-(WHEEL_DIAMETER/2+BOX_TUBE_WIDTH+WHEEL_Y_SPACING),0]) wheel(WHEEL_DIAMETER, WHEEL_WIDTH);
translate([CHASSIS_WIDTH-WHEEL_WIDTH-BOX_TUBE_WIDTH-WHEEL_X_SPACING,WHEEL_DIAMETER/2+BOX_TUBE_WIDTH+WHEEL_Y_SPACING+(CHASSIS_LENGTH-(WHEEL_DIAMETER+2.5))/2,0]) wheel(WHEEL_DIAMETER, WHEEL_WIDTH);
}
// Corresponding (lots of pulleys)
color([0,0.6,1.0]) {
translate([BOX_TUBE_WIDTH+WHEEL_X_SPACING+WHEEL_WIDTH,WHEEL_DIAMETER/2+BOX_TUBE_WIDTH+WHEEL_Y_SPACING,WHEEL_DIAMETER/2]) pulley_30t();
}
color([0,0.4,0]) {
GEARBOX_STYLE = "shifting";
if(GEARBOX_STYLE == "shifting") {
// Add dog-shifting gearboxes (tentatively)
translate([CHASSIS_FRONT_BUMPER_WIDTH,CHASSIS_LENGTH/2,WHEEL_DIAMETER/2]) shifting_gearbox();
translate([CHASSIS_WIDTH-CHASSIS_FRONT_BUMPER_WIDTH,CHASSIS_LENGTH/2,WHEEL_DIAMETER/2]) mirror([1,0,0]) shifting_gearbox();
}
else {
// Add non-shifting gearboxes (tentatively)
translate([CHASSIS_FRONT_BUMPER_WIDTH,CHASSIS_LENGTH/2,WHEEL_DIAMETER/2]) non_shifting_gearbox();
translate([CHASSIS_WIDTH-CHASSIS_FRONT_BUMPER_WIDTH,CHASSIS_LENGTH/2,WHEEL_DIAMETER/2]) mirror([1,0,0]) non_shifting_gearbox();
}
}
// Add in a battery?
color([0.15,0.15,0.15]) {
translate([CHASSIS_WIDTH/2,CHASSIS_LENGTH-CHASSIS_CUTOUT_DEPTH-BOX_TUBE_WIDTH-6.58-.25,(WHEEL_DIAMETER-BOX_TUBE_HEIGHT)/2-WHEEL_CENTER_OFFSET]) battery();
}
// And compressor?
COMPRESSOR_TYPE = "little";
COMPRESSOR_WIDTH = (COMPRESSOR_TYPE == "little") ? 2.11 : 3.27;
color([0.2,0.2,0.2]) {
translate([(CHASSIS_WIDTH+CHASSIS_CUTOUT_WIDTH)/2-BOX_TUBE_WIDTH-.5,BOX_TUBE_WIDTH+0.25,(WHEEL_DIAMETER-BOX_TUBE_HEIGHT)/2-WHEEL_CENTER_OFFSET]) if(COMPRESSOR_TYPE == "little") little_compressor();
else big_compressor();
}
// Add in air tanks, too (config 1)
color([0.4,0.4,0.4]) {
translate([(CHASSIS_WIDTH-CHASSIS_CUTOUT_WIDTH)/2+.5,BOX_TUBE_WIDTH+.25+2.75/2,BASE_CHASSIS_HEIGHT]) tank();
translate([(CHASSIS_WIDTH-CHASSIS_CUTOUT_WIDTH)/2+.5,BOX_TUBE_WIDTH+.5+3*2.75/2,BASE_CHASSIS_HEIGHT]) tank();
}
// Put in the climber winch
color([0.6,0,1]) {
translate([0,0,CLIMBER_Z_OFFSET]) {
// P80s
translate([CHASSIS_WIDTH/2+CLIMBER_CENTER_WIDTH/2,CLIMBER_Y_LOC,(WHEEL_DIAMETER-BOX_TUBE_HEIGHT)/2+BOX_TUBE_WIDTH-WHEEL_CENTER_OFFSET]) p80_minicim();
translate([CHASSIS_WIDTH/2-CLIMBER_CENTER_WIDTH/2,CLIMBER_Y_LOC,(WHEEL_DIAMETER-BOX_TUBE_HEIGHT)/2+BOX_TUBE_WIDTH-WHEEL_CENTER_OFFSET]) mirror([1,0,0]) p80_minicim();
// Winch
translate([CHASSIS_WIDTH/2,CLIMBER_Y_LOC,(WHEEL_DIAMETER-BOX_TUBE_HEIGHT)/2+BOX_TUBE_WIDTH-WHEEL_CENTER_OFFSET+1.25]) rotate([0,90,0]) cylinder(CLIMBER_CENTER_WIDTH, d=CLIMBER_WINCH_DIAMETER, center=true, $fn=60);
}
// Hex shaft
translate([CHASSIS_WIDTH/2,CLIMBER_Y_LOC-5,BASE_CHASSIS_HEIGHT+BOX_TUBE_HEIGHT+SUPER_HEIGHT-SUPER_TUBE_HEIGHT/2]) rotate([0,90,0]) cylinder(CLIMBER_CENTER_WIDTH, r=.5/sqrt(3), center=true, $fn=6);
// Mechanism on that shaft
translate([CHASSIS_WIDTH/2,CLIMBER_Y_LOC-5,BASE_CHASSIS_HEIGHT+BOX_TUBE_HEIGHT+SUPER_HEIGHT-SUPER_TUBE_HEIGHT/2]) rotate([0,90,0]) cylinder(.75, r=.75, center=true, $fn=60);
translate([CHASSIS_WIDTH/2-.5,CLIMBER_Y_LOC-5,BASE_CHASSIS_HEIGHT+BOX_TUBE_HEIGHT+SUPER_HEIGHT-SUPER_TUBE_HEIGHT/2]) rotate([0,90,0]) cylinder(.2, r=1, center=true, $fn=60);
translate([CHASSIS_WIDTH/2+.5,CLIMBER_Y_LOC-5,BASE_CHASSIS_HEIGHT+BOX_TUBE_HEIGHT+SUPER_HEIGHT-SUPER_TUBE_HEIGHT/2]) rotate([0,90,0]) cylinder(.2, r=1, center=true, $fn=60);
}
// Add in the climber's ratcheting mechanism
// lol will do it someday
// Build the arm
MAX_ARM_ANGLE = 70;
ARM_ANGLE = POSITION == "loading" || POSITION == "stowed" ? 0 : MAX_ARM_ANGLE;
ARM_ANGLE = 70; // Reassign the angle for testing purpose if desired
PIVOT_POINT_Y = 0.5; //4.25;
PIVOT_POINT_Z = 10;//7.125;
LAC_ANGLE = 20;
translate([0,PIVOT_POINT_Y,PIVOT_POINT_Z])
rotate([ARM_ANGLE,0,0])
translate([0,-PIVOT_POINT_Y,-PIVOT_POINT_Z])
{
// Mark the axis of rotation for convenience
color([1,1,1]) {
translate([0,PIVOT_POINT_Y,PIVOT_POINT_Z]) rotate([0,90,0]) cylinder(CHASSIS_WIDTH,d=0.5, $fn=60);
}
// Chromoly
color([0.4,.4,0.6]) {
// Long beams
translate([BAR_X_LOC-SUPER_TUBE_WIDTH-0.5,0,PIVOT_POINT_Z-.5]) cube([0.5,CHASSIS_LENGTH-CHASSIS_CUTOUT_DEPTH,1]);
translate([CHASSIS_WIDTH-BAR_X_LOC+SUPER_TUBE_WIDTH,0,PIVOT_POINT_Z-.5]) cube([0.5,CHASSIS_LENGTH-CHASSIS_CUTOUT_DEPTH,1]);
// Back vertical pieces
translate([BUMPER_WIDTH,CHASSIS_LENGTH-CHASSIS_CUTOUT_DEPTH,0]) cube([0.5,1,PIVOT_POINT_Z+.5]);
translate([CHASSIS_WIDTH-BUMPER_WIDTH-.5,CHASSIS_LENGTH-CHASSIS_CUTOUT_DEPTH,0]) cube([0.5,1,PIVOT_POINT_Z+.5]);
// Front vertical pieces
translate([BUMPER_WIDTH,CHASSIS_LENGTH-1,0]) cube([0.5,1,PIVOT_POINT_Z+.5]);
translate([CHASSIS_WIDTH-BUMPER_WIDTH-.5,CHASSIS_LENGTH-1,0]) cube([0.5,1,PIVOT_POINT_Z+.5]);
// Upper beams
translate([BUMPER_WIDTH,CHASSIS_LENGTH-CHASSIS_CUTOUT_DEPTH,PIVOT_POINT_Z-.5]) cube([0.5,CHASSIS_CUTOUT_DEPTH,1]);
translate([CHASSIS_WIDTH-BUMPER_WIDTH-.5,CHASSIS_LENGTH-CHASSIS_CUTOUT_DEPTH,PIVOT_POINT_Z-.5]) cube([0.5,CHASSIS_CUTOUT_DEPTH,1]);
// Lower crossbar
translate([BUMPER_WIDTH,CHASSIS_LENGTH-CHASSIS_CUTOUT_DEPTH-.5,5.125]) cube([CHASSIS_CUTOUT_WIDTH,.5,1]);
// Upper crossbar
translate([BAR_X_LOC-SUPER_TUBE_WIDTH,CHASSIS_LENGTH-CHASSIS_CUTOUT_DEPTH-.5,PIVOT_POINT_Z-.5]) cube([CHASSIS_WIDTH-2*(BAR_X_LOC-SUPER_TUBE_WIDTH),.5,1]);
// Vertical crossbar connecting bar
translate([CHASSIS_WIDTH/2-.5,CHASSIS_LENGTH-CHASSIS_CUTOUT_DEPTH-.5,6.125]) cube([1,.5,PIVOT_POINT_Z+.5-6.125]);
// Shovel
translate([BUMPER_WIDTH,CHASSIS_LENGTH-CHASSIS_CUTOUT_DEPTH,0])cube([CHASSIS_CUTOUT_WIDTH,CHASSIS_CUTOUT_DEPTH,.125]);
}
// Mark position #2 of lac attatchment
color([1,.5,.5]) translate([4,PIVOT_POINT_Y+cos(LAC_ANGLE)*10.43,PIVOT_POINT_Z+sin(LAC_ANGLE)*10.43]) cube([1,1,1], center=true);
// Pistons
color([1,0.5,0]) {
// Piston #1
translate([CHASSIS_WIDTH/2-.5,6.5,5.625])
rotate([-90,0,0]) cylinder(12,d=.86, $fn=60);
// Piston #1
translate([CHASSIS_WIDTH/2+.5,6.5,5.625])
rotate([-90,0,0]) cylinder(12,d=.86, $fn=60);
}
// Add in the io
if(POSITION != "stowed"){
translate([IO_ARM_X_POS,IO_ARM_Y_POS,PIVOT_POINT_Z-.5]) rotate([0,0,-18]) mirror([1,0,0]) io_arm();
translate([CHASSIS_WIDTH-IO_ARM_X_POS,IO_ARM_Y_POS,PIVOT_POINT_Z-.5]) rotate([0,0,18]) io_arm();
}
else{
translate([IO_ARM_X_POS,IO_ARM_Y_POS,PIVOT_POINT_Z-.5]) rotate([0,0,166]) mirror([1,0,0]) io_arm();
translate([CHASSIS_WIDTH-IO_ARM_X_POS,IO_ARM_Y_POS,PIVOT_POINT_Z-.5]) rotate([0,0,-166]) io_arm();
}
// pretty box
if(POSITION != "stowed"){
color([.9,1,0.2]) {
translate([CHASSIS_WIDTH/2,25.5,0.125]) box();
}
}
else{
color([.9,1,0.2]) {
translate([CHASSIS_WIDTH/2,45,0.125]) box();
}
}
}
// Mark position #1 of lac attatchment
ang = -20;
color([1,.5,.5])
translate([0,17*cos(ang),17*sin(ang)])translate([4,PIVOT_POINT_Y+cos(LAC_ANGLE)*10.43,PIVOT_POINT_Z+sin(LAC_ANGLE)*10.43]) rotate([0,0,0]) cube([1,1,1], center=true);
}
// ---- ROBOT STUFF ----
// Robot chassis
POSITION = "stowed";// (Strings) "stowed, "loading", "raised", "shooting", or "shot" : correspo
full_chassis(POSITION);
// For determining the height of the chassis
// cube([1,1,1.625]);
// ---- FIELD ELEMENTS ----
// Can we shoot to the switch?
translate([0,35]) switch_fence();
// Or the scale?
//translate([0,35]) scale_fence("UP");
// Can we pass over the wire protector?
//translate([0,25.5]) bump();