Adding leg mounts

BancroftSchoolOpenSource · Dec 6, 2023 · f0a12f0 · f0a12f0
1 parent 7784ef9
commit f0a12f0
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Showing 2 changed files with 141 additions and 13 deletions.
diff --git a/BaseBot.groovy b/BaseBot.groovy
@@ -422,12 +422,45 @@ try {
 	CSG top = parts[1];
 	CSG bot = parts[0];
 
-
+	double legMountRadius = 10
+	double legMountPinLength = 10
+	double legPinRadius = 4
 	LengthParameter tailLength		= new LengthParameter("Cable Cut Out Length",30,[500, 0.01])
 	tailLength.setMM(25)
+
 	CSG motor = Vitamins.get("hobbyServo", "fs90r")
 	CSG horn = Vitamins.get("hobbyServoHorn", "fs90r_1")
 			.movez(motor.getMaxZ())
+	CSG boltWheel = Vitamins.get("chamferedScrew", "M3x16")
+					.roty(180)
+					.toZMin()
+					.movez(motor.getMaxZ())
+					.movex(legMountRadius)
+	CSG bearingWheel = Vitamins.get("ballBearing", "695zz")
+					.movez(motor.getMaxZ()+legMountPinLength)
+					.movex(legMountRadius)
+	double legMountPinRadius = bearingWheel.getTotalX()/2+3
+
+	CSG legPin  = new Cylinder(legPinRadius, legMountPinLength+1).toCSG()
+						.movez(motor.getMaxZ())
+						.movex(legMountRadius)
+	CSG legSquare = new Cube(legMountPinRadius+2,legMountPinRadius*2,bearingWheel.getTotalZ()+1).toCSG()
+					.toZMin()
+					.toXMin()
+	CSG legHole = new Cylinder(3.5/2.0, legMountPinRadius*2).toCSG()
+					.movez(-legMountPinRadius)
+					.rotx(90)
+					.movex(legMountPinRadius-1)
+					.movez((bearingWheel.getTotalZ()+1)/2.0)
+	CSG legMount = new Cylinder(legMountPinRadius, bearingWheel.getTotalZ()+1).toCSG()
+						.union(legSquare)
+						.difference(legHole)
+						.difference(new Cylinder(legPinRadius+1, legMountPinLength+1).toCSG())
+							.movez(motor.getMaxZ()+legMountPinLength-1)
+							.movex(legMountRadius)
+							.difference(bearingWheel.hull())
+
+
 	double hornDepth = horn.getTotalZ()
 	double halfServoDistance = motor.getTotalX()/2
 	double servoSplit=2
@@ -469,19 +502,57 @@ try {
 
 	CSG rightDrive = asmOfDrive.transformed(rightSide)
 	CSG leftDriveHorn = horn.transformed(leftSide)
-
+	CSG leftDriveBolt = boltWheel.transformed(leftSide)
+	CSG rightDriveBolt = boltWheel.transformed(rightSide)
+
+	CSG leftDriveBearing = bearingWheel.transformed(leftSide)
+	CSG rightDriveBearing = bearingWheel.transformed(rightSide)
+
+
+	CSG leftlegMount = legMount.transformed(leftSide)
+	CSG rightlegMount = legMount.transformed(rightSide)
+
 	CSG rightDriveHorn = horn.transformed(rightSide)
-
+
+
+	CSG rightLegPin= legPin.transformed(rightSide)
+	CSG leftLegPin= legPin.transformed(leftSide)
+
+
 	CSG bothDrive = leftDrive.union(rightDrive)
 
 
 
-	CSG leftWheel =  wheepCore.transformed(leftSide).difference(leftDriveHorn)
+	CSG leftWheel =  wheepCore.transformed(leftSide)
+						.difference(leftDriveHorn)
+						.union(leftLegPin)
+						.difference(leftDriveBolt)
+						.difference(leftDriveBearing)
 	CSG rightWheel =  wheepCore.transformed(rightSide).difference(rightDriveHorn)
+						.union(rightLegPin)
+						.difference(rightDriveBolt)
+						.difference(rightDriveBearing)
+
+	leftDriveBearing.setColor(Color.SILVER)
+			.setManufacturing({ toMfg ->
+				return null
+			})
+	rightDriveBearing.setColor(Color.SILVER)
+			.setManufacturing({ toMfg ->
+				return null
+			})
 	leftDriveHorn.setColor(Color.BLACK)
 			.setManufacturing({ toMfg ->
 				return null
 			})
+	leftDriveBolt.setColor(Color.BLACK)
+			.setManufacturing({ toMfg ->
+				return null
+			})
+	rightDriveBolt.setColor(Color.BLACK)
+			.setManufacturing({ toMfg ->
+				return null
+			})
 	rightDriveHorn.setColor(Color.BLACK)
 			.setManufacturing({ toMfg ->
 				return null
@@ -679,7 +750,14 @@ try {
 			.setManufacturing({ toMfg ->
 				return toMfg.roty(-90).toZMin()
 			})
-
+	leftlegMount.setName("leftlegMount")
+			.setManufacturing({ toMfg ->
+				return toMfg.roty(-90).toZMin()
+			})
+	rightlegMount.setName("rightLegMount")
+			.setManufacturing({ toMfg ->
+				return toMfg.roty(90).toZMin()
+			})
 	rightWheel.setName("rightWheel")
 			.setManufacturing({ toMfg ->
 				return toMfg.roty(90).toZMin()
@@ -740,7 +818,25 @@ try {
 	tireMovedL.addAssemblyStep(9, new Transform().movex(-30))
 	tireMovedL.addAssemblyStep(8, new Transform().movex(-10))
 	leftDriveHorn.addAssemblyStep(10, new Transform().movex(-40))
-
+
+	leftDriveBolt.addAssemblyStep(9, new Transform().movex(-30))
+	leftDriveBolt.addAssemblyStep(8, new Transform().movex(20))
+
+	rightDriveBolt.addAssemblyStep(9, new Transform().movex(30))
+	rightDriveBolt.addAssemblyStep(8, new Transform().movex(-20))
+
+	leftDriveBearing.addAssemblyStep(9, new Transform().movex(-30))
+	rightDriveBearing.addAssemblyStep(9, new Transform().movex(30))
+
+	leftlegMount.addAssemblyStep(9, new Transform().movex(-30))
+	rightlegMount.addAssemblyStep(9, new Transform().movex(30))
+
+	leftlegMount.addAssemblyStep(8, new Transform().movex(-5))
+	rightlegMount.addAssemblyStep(8, new Transform().movex(5))
+
+	leftDriveBearing.addAssemblyStep(8, new Transform().movex(-20))
+	rightDriveBearing.addAssemblyStep(8, new Transform().movex(20))
+
 	rightWheel.addAssemblyStep(9, new Transform().movex(30))
 	tireMovedR.addAssemblyStep(9, new Transform().movex(30))
 	tireMovedR.addAssemblyStep(8, new Transform().movex(10))
@@ -765,7 +861,13 @@ try {
 		hingingPlate,
 		hingeThread,
 		closureThreads,
-		bottomThreads
+		bottomThreads,
+		leftDriveBolt,
+		rightDriveBolt,
+		leftDriveBearing,
+		rightDriveBearing,
+		leftlegMount,
+		rightlegMount
 
 	]
 }catch(Throwable tr) {

diff --git a/printbed.json b/printbed.json
@@ -1,5 +1,31 @@
 {
   "locations": {
+    "rightLegMount": {
+      "x": 132.231663451747,
+      "y": 105.52705688973546,
+      "z": 0.0,
+      "rotation": {
+        "storage": {
+          "q0": 1.0,
+          "q1": 0.0,
+          "q2": 0.0,
+          "q3": 0.0
+        }
+      }
+    },
+    "leftlegMount": {
+      "x": 171.85973048064562,
+      "y": 126.62958809279016,
+      "z": 0.0,
+      "rotation": {
+        "storage": {
+          "q0": 1.0,
+          "q1": 0.0,
+          "q2": 0.0,
+          "q3": 0.0
+        }
+      }
+    },
     "leftWheel": {
       "x": 66.40487960816972,
       "y": 158.18111914980125,
@@ -14,8 +40,8 @@
       }
     },
     "hingingPlate": {
-      "x": 199.83256124958473,
-      "y": 19.95390226167468,
+      "x": 199.90088929188147,
+      "y": 21.90751893984761,
       "z": 0.0,
       "rotation": {
         "storage": {
@@ -40,8 +66,8 @@
       }
     },
     "CaseBottom": {
-      "x": 77.46238442169853,
-      "y": 111.26624312550217,
+      "x": 77.81852553511109,
+      "y": 110.69206740310229,
       "z": 0.0,
       "rotation": {
         "storage": {
@@ -66,8 +92,8 @@
       }
     },
     "servoCover": {
-      "x": 83.13858373690336,
-      "y": 8.60740351938459,
+      "x": 85.13344935264912,
+      "y": 9.5445536015829,
       "z": 0.0,
       "rotation": {
         "storage": {