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WheelModule.groovy
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WheelModule.groovy
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println "Loading 200x robot"
def mm(def inches){
return inches*25.4
}
int depth=1
double gridUnits = 25
def wheelbaseIndex = 9
def wheelbaseIndexY = 9
def rideHeight = 80
def plateThickness =mm(1.0/4.0)
def plateLevel = rideHeight+plateThickness
def wheelbase=gridUnits*wheelbaseIndex
CSGDatabase.clear()
LengthParameter printerOffset = new LengthParameter("printerOffset",0.5,[1.2,0])
printerOffset.setMM(0.25)
String size ="M5"
HashMap<String, Object> boltData = Vitamins.getConfiguration( "capScrew",size)
double nursertHeight = 9.5
double nutsertRad = 6.4/2+printerOffset.getMM()/2
def nutsert=new Cylinder(nutsertRad,nursertHeight ).toCSG()
double standOffRadius = nutsertRad*3
double motorStandoffBoltLen = 45
double electronicsBayStandoff = 45
double sensorWidth = mm(2.95)
double sensorthickness = mm( 0.1)
double sensorRideHeight=10-sensorthickness
double sensorDepth = mm(0.5)
double sensorOverlapBracket = 2
double sensorOverhangBracket = sensorDepth/2
def sensor = new Cube(sensorWidth,sensorDepth,sensorthickness).toCSG()
.toZMin()
.movez(sensorRideHeight*2)
.movex(gridUnits*4.5)
.movey(-gridUnits*2-sensorOverhangBracket-standOffRadius)
double bracketExtention = gridUnits *4
def sensorStandoffCore=new Cylinder(standOffRadius,rideHeight-sensorRideHeight+plateThickness ).toCSG()
def snutz = [
nutsert.toZMax().movez(sensorStandoffCore.getMaxZ()),
nutsert.toZMax().movez(sensorStandoffCore.getMaxZ()).movex(gridUnits)
]
def sensorStandOffWithHoles = sensorStandoffCore.union(sensorStandoffCore.movex(gridUnits)).hull()
.difference(snutz)
//return [sensorStandOff,snutz]
def skidHole=new Cylinder(2,sensorRideHeight+sensorthickness ).toCSG()
def skidCOre=new Cylinder(sensorOverhangBracket+2,sensorRideHeight+sensorthickness ).toCSG()
double skidCorner = sensorWidth/2
def skidHolder = skidCOre.movex(-skidCorner).union(skidCOre.movex(skidCorner)).hull()
.movex(gridUnits*0.5)
skidHolder=skidHolder.union(skidHolder.movez(sensorRideHeight*2)).hull()
def sideBracketLong= skidCOre
.toYMin()
.movey(-(standOffRadius+sensorOverhangBracket)-bracketExtention)
.union(skidCOre)
.hull()
def sideBracket= skidCOre
.toYMin()
.movey(-(standOffRadius+sensorOverhangBracket))
.union(skidCOre)
.hull()
def leftSideSensorBracket =sideBracket
.movex(skidCorner+gridUnits*0.5)
def rightSideSensorBracket =sideBracket
.movex(-skidCorner+gridUnits*0.5)
def leftSideSensorBracketLong =sideBracketLong
.movex(skidCorner+gridUnits*0.5)
def rightSideSensorBracketLong =sideBracketLong
.movex(-skidCorner+gridUnits*0.5)
def skidHoleLeft = skidHole
.toXMax()
.movex(-skidCorner+gridUnits*0.5)
.movey(-(standOffRadius+sensorOverhangBracket/3))
def skidHoleRight = skidHole
.toXMin()
.movex(skidCorner+gridUnits*0.5)
.movey(-(standOffRadius+sensorOverhangBracket/3))
def skidHoleLeftLong = skidHole
.toXMax()
.movex(-skidCorner+gridUnits*0.5)
.movey(-(standOffRadius+sensorOverhangBracket/3)-bracketExtention)
def skidHoleRightLong = skidHole
.toXMin()
.movex(skidCorner+gridUnits*0.5)
.movey(-(standOffRadius+sensorOverhangBracket/3)-bracketExtention)
def sensorStandOff=sensorStandOffWithHoles
.union(leftSideSensorBracket)
.union(rightSideSensorBracket)
.union(skidHolder)
.difference(skidHoleLeft)
.difference(skidHoleRight)
.movex(gridUnits*4)
.movey(-gridUnits*2)
.movez(sensorRideHeight)
.difference(sensor)
def longSensorModel = sensor.movey(-bracketExtention)
def sensorStandOffLong=sensorStandOffWithHoles
.union(leftSideSensorBracketLong)
.union(rightSideSensorBracketLong)
.union(skidHolder)
.difference(skidHoleLeftLong)
.difference(skidHoleRightLong)
.movex(gridUnits*4)
.movey(-gridUnits*2)
.movez(sensorRideHeight)
.difference(longSensorModel)
def castor(){
new Sphere(15.8/2)// Spheres radius
.toCSG()
.toZMax()
.movez(20)
.union([CSG.unionAll([new Cylinder(34/2,13).toCSG(),
new Cylinder(5,13).toCSG().movex(38/2),
new Cylinder(5,13).toCSG().movex(-38/2)
]).hull(),
new Cylinder(1.5,10).toCSG().toZMax().movex(38/2),
new Cylinder(1.5,10).toCSG().toZMax().movex(-38/2)
])
.rotx(180)
}
double tabThick = 3
double batteryShort = mm(2.64)
double batteryLong =mm(5.27)
double centerline = gridUnits*wheelbaseIndex/2
double leftX = centerline +gridUnits*1.5
double rightX = centerline -gridUnits*1.5
def leftNutsert = nutsert.toZMax()
.movez(rideHeight)
.movex( leftX)
def rightNutsert = nutsert.toZMax()
.movez(rideHeight)
.movex(rightX)
def rightNutsertSet= rightNutsert.movey(gridUnits)
for(double i=gridUnits*2;i<batteryLong;i+=gridUnits){
//println "Right ="+i
rightNutsertSet=rightNutsertSet.union(rightNutsert.movey(i))
}
def leftSet= leftNutsert.movey(gridUnits)
for(double i=gridUnits;i<batteryLong;i+=gridUnits){
//println "Left ="+i
leftSet=leftSet.union(leftNutsert.movey(i))
}
def batteryHoles= leftSet.union(rightNutsertSet)
def battBoxX=batteryHoles.getTotalX()+tabThick*2
def batteryBox = new Cube(battBoxX,batteryLong+tabThick*2,batteryShort+tabThick).toCSG()
.toYMin()
.toZMax()
.movez(rideHeight)
.movex( centerline)
.movey(-tabThick)
def battery = new Cube(batteryShort,batteryLong,batteryShort).toCSG()
.toYMin()
.toZMax()
.movez(rideHeight)
.movex( centerline)
def batteryBackHole = new Cube(batteryShort-tabThick*2,batteryLong+tabThick*2,batteryShort-tabThick).toCSG()
.toYMin()
.toZMax()
.movez(rideHeight)
.movex( centerline)
def terminals = new Cube(batteryShort-15,30,25).toCSG()
.toYMin()
.toZMin()
.movez(rideHeight)
.movex( centerline)
// .union([ leftNutsert,rightNutsert])
battery=battery.union(terminals)
batteryBox=batteryBox.difference([battery,
battery.movez(tabThick)
.movey(-tabThick),
batteryBackHole,
batteryHoles])
Transform newBatt = new Transform()
.movex(-centerline)
.rotz(90)
.movey(gridUnits/2.0+gridUnits*3)
.movex(gridUnits*2)
def notch = new Cube(gridUnits*4,gridUnits*3,gridUnits).toCSG()
.movez(rideHeight)
.toXMin()
.toYMax()
.movex(gridUnits*2.5)
.movey(gridUnits*1.5)
batteryBox=batteryBox.transformed(newBatt)
battery=battery.transformed(newBatt)
.union(notch)
batteryBox.setName("batteryBox")
batteryBox.setManufacturing({ toMfg ->
return toMfg
.rotx(90)
.toZMin()
})
//return [batteryBox,battery]
CSG standoffCore = new Cylinder(standOffRadius,electronicsBayStandoff).toCSG()
CSG boltHole = new Cylinder(2.5+0.25,electronicsBayStandoff).toCSG()
double boltDepth = electronicsBayStandoff-(motorStandoffBoltLen -plateThickness-nursertHeight )
CSG boltHeadHole = new Cylinder(boltData.headDiameter/2.0+0.25,boltDepth).toCSG()
.toZMax()
.movez(electronicsBayStandoff)
def standoff = standoffCore.union(standoffCore.movex(gridUnits*3)).hull()
.difference([
nutsert,
nutsert.movex(gridUnits*3),
nutsert.toZMax().movez(electronicsBayStandoff),
nutsert.toZMax().movez(electronicsBayStandoff).movex(gridUnits*3),
boltHole.movex(gridUnits),
boltHole.movex(gridUnits*2),
boltHeadHole.movex(gridUnits),
boltHeadHole.movex(gridUnits*2),
])
def standoffLeft = standoff
.movex(-gridUnits)
.movez(rideHeight+ plateThickness)
def standoffRight = standoff
.movex(gridUnits*7)
.movez(rideHeight+ plateThickness)
double hingePoint = electronicsBayStandoff/2
double spacing = 0.5
double hingePartsThickness = (gridUnits-(spacing*2))/3
def hingeBolt = boltHole.roty(-90).movez(hingePoint)
CSG hingeCore = new Cylinder(standOffRadius,hingePartsThickness).toCSG()
def hingeBase =hingeCore.movex(gridUnits).union(hingeCore).hull()
CSG hingemount = new Cube(hingePartsThickness,nutsertRad*6,hingePartsThickness).toCSG()
.toZMin()
.toXMin()
CSG hingePillar = hingemount.union(hingeCore.roty(-90).movez(hingePoint)).hull()
def hingePillar2=hingePillar.movex(hingePartsThickness+spacing)
.rotx(180)
.movez(hingePoint*2)
def hingePillar3=hingePillar.movex((hingePartsThickness+spacing)*2)
def lower = hingeBase.union([hingePillar,hingePillar3])
.difference([
nutsert,
nutsert.movex(gridUnits),
nutsert.roty(-90).movez(hingePoint),
hingeBolt
])
def upper = hingeBase.toZMax().movez(electronicsBayStandoff).union([hingePillar2])
.difference([
nutsert.toZMax().movez(electronicsBayStandoff),
nutsert.toZMax().movez(electronicsBayStandoff).movex(gridUnits),
hingeBolt
])
def hingeParts = [upper,lower]
def leftHinge = hingeParts.collect{
it.move(gridUnits*2,gridUnits*6,rideHeight+ plateThickness)
}
def rightHinge = hingeParts.collect{
it.move(gridUnits*6,gridUnits*6,rideHeight+ plateThickness)
}
def cableGuide = upper.move(gridUnits*4,gridUnits*6,rideHeight+ plateThickness)
CSG sensorPlateCore = new Cylinder(standOffRadius,plateThickness).toCSG()
def sensorPlate = sensorPlateCore.union([
sensorPlateCore.move(gridUnits,-gridUnits,0),
sensorPlateCore.move(0,-gridUnits,0),
sensorPlateCore.move(gridUnits,0,0)
]).hull()
.difference([
boltHole,
boltHole.move(gridUnits,-gridUnits,0),
boltHole.move(0,-gridUnits,0),
boltHole.move(gridUnits,0,0)
])
.move(gridUnits*4,-gridUnits,plateLevel)
Transform moveSensor= new Transform()
.rotz(180)
.movex(gridUnits*9)
.movey(gridUnits*5)
Transform longSensor= new Transform()
//.movex(gridUnits*9)
.movey(gridUnits*3)
println "Making castor"
def cast = castor()
double castorStandoff = cast.getMinZ()
double castorDistanceY =gridUnits*(Math.round((wheelbaseIndexY/2.0))+1)
def movedCastor =cast.toZMin()
.movex( gridUnits*wheelbaseIndex/2)
.movey(castorDistanceY)
def shortsensorPlate=sensorPlate.transformed(moveSensor)
def shortsensor=sensor.transformed(moveSensor)
def shortsensorStandOff=sensorStandOff.transformed(moveSensor)
.difference(movedCastor)
def longsensorPlate=sensorPlate.transformed(longSensor)
def longsensor=longSensorModel.transformed(longSensor)
def longsensorStandOff=sensorStandOffLong.transformed(longSensor)
CSG kickStand = new Cube (20,batteryBox.getMinY()-longsensorStandOff.getMaxY(),20).toCSG()
.toYMin()
.toZMin()
.movey(longsensorStandOff.getMaxY())
.movex(gridUnits*4.5)
.movez(longsensorStandOff.getMinZ())
longsensorStandOff=longsensorStandOff.union(kickStand)
//return [ battery,batteryBox,standoffLeft,standoffRight,leftHinge,rightHinge,cableGuide,shortsensorPlate,shortsensor,shortsensorStandOff,movedCastor,longsensorPlate,longsensor,longsensorStandOff]
double washerThick = 1
def motorOptions = []
def shaftOptions = []
for(String vitaminsType: Vitamins.listVitaminTypes()){
HashMap<String, Object> meta = Vitamins.getMeta(vitaminsType);
if(meta !=null && meta.containsKey("actuator"))
motorOptions.add(vitaminsType);
if(meta !=null && meta.containsKey("shaft"))
shaftOptions.add(vitaminsType);
}
StringParameter motors = new StringParameter("Motor Type","roundMotor",motorOptions)
StringParameter shafts = new StringParameter("Shaft Type","dShaft",shaftOptions)
StringParameter motorSize = new StringParameter("Motor Size","WPI-gb37y3530-50en",Vitamins.listVitaminSizes(motors.getStrValue()))
StringParameter shaftSize = new StringParameter("Shaft Size","WPI-gb37y3530-50en",Vitamins.listVitaminSizes(shafts.getStrValue()))
printerOffset.setMM(0.5)
def motorBlank= Vitamins.get(motors.getStrValue(),motorSize.getStrValue()).rotz(180)
printerOffset.setMM(0.1)
def shaftBlank= Vitamins.get(shafts.getStrValue(),shaftSize.getStrValue())
printerOffset.setMM(0.25)
HashMap<String, Object> motorData = Vitamins.getConfiguration( motors.getStrValue(),motorSize.getStrValue())
double motorToMountPlane = motorBlank.getMaxZ()
double motorToMountPlaneMinusShoulder = motorToMountPlane-motorData.shaftCollarHeight
double shaftLength=shaftBlank.getTotalZ()
motorBlank=motorBlank.movez(-motorToMountPlane)
double tireID = mm(1.0+(5.0/8.0))
double tireOD = mm(2.0)
double width = mm(3.0/16.0)
double axilToRideHeight = rideHeight-(tireOD/2)
double sweepCenter = (double)(tireOD+tireID)/4.0
def tire = CSG.unionAll(
Extrude.revolve(new Cylinder(width/2-printerOffset.getMM()/2,1.0).toCSG().roty(90),
sweepCenter, // rotation center radius, if 0 it is a circle, larger is a donut. Note it can be negative too
(double)360,// degrees through wich it should sweep
(int)30)//number of sweep increments
)
.roty(90)
def bearing =Vitamins.get("ballBearing","695zz").hull().makeKeepaway(printerOffset.getMM()).toZMin()
//
//bearing=bearing.union()
LengthParameter boltlen = new LengthParameter("Bolt Length",0.675,[1.2,0])
boltlen.setMM(50-1.388*2)
def bolt =new Cylinder(boltData.outerDiameter/2+printerOffset.getMM()/2,boltlen.getMM()).toCSG()
double pitch = 4.1
int atheeth =12
println "Making gears..."
// call a script from another library
List<Object> bevelGears = (List<Object>)ScriptingEngine
.gitScriptRun(
"https://github.com/madhephaestus/GearGenerator.git", // git location of the library
"bevelGear.groovy" , // file to load
// Parameters passed to the funcetion
[ atheeth,// Number of teeth gear a
atheeth*3,// Number of teeth gear b
6,// thickness of gear A
pitch,// gear pitch in arch length mm
90
]
)
println "\tBevel gear radius A " + bevelGears.get(2)
println "\tBevel gear radius B " + bevelGears.get(3)
def gearBThickness = bevelGears.get(6)
def wheelSectionThickness = width*1.5
def wheelCenterlineX = -wheelSectionThickness/2-bevelGears.get(2)
def wheelCore = new Cylinder(sweepCenter,wheelSectionThickness).toCSG()
.roty(-90)
.movez( bevelGears.get(3))
.movex( -wheelSectionThickness-bevelGears.get(2))
def wheelWellCenter = new Cylinder(6,wheelSectionThickness+gearBThickness).toCSG()
.roty(-90)
.movez( bevelGears.get(3))
.movex( -wheelSectionThickness-bevelGears.get(2)-washerThick)
def wheelwell = new Cylinder(sweepCenter+width,wheelSectionThickness+gearBThickness).toCSG()
.roty(-90)
.movez( bevelGears.get(3))
.movex( -wheelSectionThickness-bevelGears.get(2)-washerThick)
//.difference(wheelWellCenter)
tire=tire .movez( bevelGears.get(3))
.movex( wheelCenterlineX)
bearing=bearing
.roty(90)
.movez( bevelGears.get(3))
.movex( gearBThickness-bevelGears.get(2)+washerThick)
bearing2 = bearing.movex(bearing.getTotalX() -gearBThickness-wheelSectionThickness-washerThick)
.union(new Cylinder(9.8/2,10).toCSG()
.toZMin()
.roty(90)
.movez( bevelGears.get(3))
.movex( gearBThickness-bevelGears.get(2)+washerThick)
)
CSG outputGear = bevelGears.get(0)
CSG supportOutputGear = new Cylinder(outputGear.getTotalX()/2-0.1,Math.abs(motorToMountPlaneMinusShoulder)).toCSG()
.toZMax()
outputGear=outputGear.union( supportOutputGear)
CSG adrive = bevelGears.get(1)
def nutsertGrid= []
def netmover= nutsert
.roty(90)
for(int i=-depth;i<=depth;i++)
for(int j=-depth;j<=depth;j++){
if(i==0&&j==0)
continue
nutsertGrid.add(netmover.movey(gridUnits*i)
.movez(gridUnits*j))
}
def nutGrid = CSG.unionAll(nutsertGrid)
def axelBolt = bolt
.movez(-boltlen.getMM()/2)
.roty(-90)
.movez( bevelGears.get(3))
.movex(motorBlank.getCenterX() )
def motorYold = sweepCenter+width+nursertHeight +Math.abs(motorBlank.getMinY())
def motorBracketYOffset = Math.abs(motorBlank.getMinY())
def motorY = axilToRideHeight+motorBracketYOffset+0.25
println "Motor height was "+motorYold+" and is "+motorY
def motorPlate = new Cube(boltlen.getMM(),motorY,motorToMountPlane).toCSG()
.movex(motorBlank.getCenterX() )
.toYMin()
.movey(-motorBracketYOffset)
.toZMax()
def axelMount = nutsert
.roty(90)
.movez( bevelGears.get(3))
.movex(motorPlate.getMaxX() )
def lSideGrid = nutGrid
.movez( bevelGears.get(3))
.movex(motorPlate.getMaxX() )
def rSideGrid = nutGrid
.movez( bevelGears.get(3))
.rotz(180)
.movex(motorPlate.getMinX() )
def leftHeight = motorPlate.getMaxX()-bevelGears.get(1).getMaxX()-printerOffset.getMM()//-washerThick
def rightHeight = Math.abs(motorPlate.getMinX()-wheelCore.getMinX())
def baseSupportRad = 17
def leftCone = new Cylinder(baseSupportRad, // Radius at the bottom
boltData.outerDiameter/2+1, // Radius at the top
leftHeight, // Height
(int)30 //resolution
).toCSG()
.roty(90)
.toXMax()
.movex(motorPlate.getMaxX())
.movez( bevelGears.get(3))
println "Right cone height = "+rightHeight
def rightCone = new Cylinder(baseSupportRad, // Radius at the bottom
boltData.outerDiameter/2+1, // Radius at the top
rightHeight, // Height
(int)30 //resolution
).toCSG()
.intersect(
new Cylinder(boltData.outerDiameter/2+4, // Radius at the bottom
boltData.outerDiameter/2+4, // Radius at the top
rightHeight, // Height
(int)30 //resolution
).toCSG()
)
.roty(-90)
.toXMin()
.movex(motorPlate.getMinX())
.movez( bevelGears.get(3))
// return rightCone
//rightCone=rightCone.union(leftCone.movex(10))
def sideWallTHickness=motorPlate.getMaxX()-bevelGears.get(0).getMaxX()-5
def sideWallPuckL = new Cylinder(baseSupportRad, // Radius at the bottom
baseSupportRad, // Radius at the top
sideWallTHickness, // Height
(int)30 //resolution
).toCSG()
.roty(90)
.toXMax()
.movex(motorPlate.getMaxX())
.movez( bevelGears.get(3))
def sideWallPuckR = new Cylinder(baseSupportRad, // Radius at the bottom
baseSupportRad, // Radius at the top
sideWallTHickness, // Height
(int)30 //resolution
).toCSG()
.roty(-90)
.toXMin()
.movex(motorPlate.getMinX())
.movez( bevelGears.get(3))
def mountWallBar =new Cube(sideWallTHickness,nursertHeight, bevelGears.get(3)+nutsertRad*2).toCSG()
.toZMin()
def mountWallBarL = mountWallBar
.toXMax()
.movex(motorPlate.getMaxX())
.toYMax()
.movey(motorPlate.getMaxY())
def mountWallBarR=mountWallBar
.toXMin()
.movex(motorPlate.getMinX())
.toYMax()
.movey(motorPlate.getMaxY())
def sideWallBarL = new Cube(sideWallTHickness,motorY,motorToMountPlane).toCSG()
.toXMax()
.movex(motorPlate.getMaxX())
.toYMin()
.movey(motorBlank.getMinY())
.toZMax()
.union([sideWallPuckL,mountWallBarL]).hull()
def sideWallBarR = new Cube(sideWallTHickness,motorY,motorToMountPlane).toCSG()
.toXMin()
.movex(motorPlate.getMinX())
.toYMin()
.movey(motorBlank.getMinY())
.toZMax()
.union([sideWallPuckR,mountWallBarR]).hull()
def backPlate = mountWallBarR.union( mountWallBarL).hull()
def wheelMountHole = nutsert
.roty(90)
.rotz(-90)
.movez( bevelGears.get(3))
.movey(motorPlate.getMaxY() )
.movex( wheelCenterlineX)
def wheelMountGrid = nutGrid
.rotz(-90)
.movez( bevelGears.get(3))
.movey(motorPlate.getMaxY() )
.movex( wheelCenterlineX)
def gearHole = new Cylinder(bevelGears.get(0).getMaxX()+1,motorToMountPlane).toCSG()
.toZMax()
println "Making bracket assembly"
// FInal assembly section
def bracket = CSG.unionAll([motorPlate,leftCone,rightCone,sideWallBarL,
sideWallBarR,
backPlate
]).difference([wheelMountHole,wheelwell,gearHole])
.union(rightCone)
.difference([axelBolt,motorBlank,
axelMount,
lSideGrid,
//rSideGrid,
wheelMountGrid
])
.union(rightCone.intersect(rightCone.getBoundingBox().movex(0.25)).movez(-19).movex(-0.25))
println "Making wheel assembly"
def wheelAsmb = CSG.unionAll([adrive,wheelCore
]).difference([axelBolt,tire,bearing,bearing2
])
println "Making gear cutouts"
def driveGear = outputGear.difference([shaftBlank,motorBlank])
println "Making left side bracket"
def bracketm=bracket.mirrorx().movex(wheelbase+wheelCenterlineX*2)
// Attach production scripts
println "Alligning bracket to robot frame"
driveSection= [driveGear,bracket, bracketm,wheelAsmb,tire,motorBlank,bearing,bearing2].collect{
it.move(-wheelCenterlineX,tire.getMaxY(),- bevelGears.get(3))
.rotx(-90)
}
double BottomOfPlate=driveSection[1].getMaxZ()
double standoffHeight = BottomOfPlate+castorStandoff
def standoffPart =CSG.unionAll([ new Cylinder(gridUnits/2,standoffHeight).toCSG().movex( gridUnits*0.5),
new Cylinder(gridUnits/2,standoffHeight).toCSG().movex( -gridUnits*0.5)
]).hull()
.toZMax()
.difference([ nutsert.toZMax().movex( gridUnits*0.5),
nutsert.toZMax().movex( -gridUnits*0.5),
])
.movez(BottomOfPlate)
.movex( gridUnits*wheelbaseIndex/2)
.movey(castorDistanceY)
standoffPart= standoffPart.difference( movedCastor)
println "Making hole grid"
def nutsertGridPlate= []
def netmoverP= new Cylinder(5.0/2,standoffHeight/2).toCSG()
.toZMin()
.movez(BottomOfPlate)
def netmoverV= new Cylinder(3/2,standoffHeight).toCSG()
.toZMin()
.movez(BottomOfPlate-10)
for(int i=0;i<8;i++)
for(int j=0;j<(wheelbaseIndex+3);j++){
nutsertGridPlate.add(netmoverP.movey(gridUnits*i-gridUnits)
.movex(gridUnits*j-gridUnits))
}
//
println "Cutting castor"
standoffPart= standoffPart.difference( movedCastor)
//.difference( nutsertGridPlate)
wheelAsmb=driveSection[3]
println "Mirroring drive section"
bracketm=driveSection[2]//.difference(nutsertGridPlate)
bracket=driveSection[1]//.difference(nutsertGridPlate)
driveGear=driveSection[0]
tire = driveSection[4]
motorBlank = driveSection[5]
def driveGearl = driveGear.mirrorx().movex(wheelbase)
def wheelAsmbl = wheelAsmb.mirrorx().movex(wheelbase)
def tirel = tire.mirrorx().movex(wheelbase)
def motorBlankl=motorBlank.mirrorx().movex(wheelbase)
double plateRadius = (13.0*25.4)/2
CSG plateRound =new Cylinder(plateRadius,plateRadius,plateThickness,(int)60).toCSG()
.toZMin()
.move(centerline,0,BottomOfPlate)
def plateCubic = new Cube(plateRadius*2,gridUnits*(wheelbaseIndexY+2),plateThickness).toCSG()
.toZMin()
.toYMin()
.move(centerline,-gridUnits*1.5,BottomOfPlate)
println "Cutting grid from plate, may take a while..."
def plate = plateRound
.intersect(plateCubic)
.difference(nutsertGridPlate)
.difference(battery)
def plate2 = plate .movez(electronicsBayStandoff+plateThickness)
println "Plate Dimentions "+(plateRadius*2.0/25.4)+"\" by "+(plate.getTotalY()/25.4)+"\""
println "Making mfg scripts "
wheelAsmb.setName("wheel")
.setManufacturing({ toMfg ->
return toMfg
.roty(90)
.toXMin()
.toYMin()
.toZMin()
})
wheelAsmbl.setName("wheel left")
.setManufacturing({ toMfg ->
return toMfg
.roty(-90)
.toXMin()
.toYMin()
.toZMin()
})
bracketm.setName("bracket-m")
.setManufacturing({ toMfg ->
return toMfg.rotx(90)
.toXMin()
.toYMin()
.toZMin()
})
bracket.setName("bracket")
.setManufacturing({ toMfg ->
return toMfg.rotx(90)
.toXMin()
.toYMin()
.toZMin()
})
driveGear.setName("driveGear")
.setManufacturing({ toMfg ->
return toMfg.rotx(90)
.toXMin()
.toYMin()
.toZMin()
})
driveGearl.setName("driveGear left")
.setManufacturing({ toMfg ->
return toMfg.rotx(90)
.toXMin()
.toYMin()
.toZMin()
})
standoffPart.setName("standoffPart")
.setManufacturing({ toMfg ->
return toMfg
.toXMin()
.toYMin()
.toZMin()
})
standoffLeft.setName("standoffPartL")
.setManufacturing({ toMfg ->
return toMfg
.toXMin()
.toYMin()
.toZMin()
})
standoffRight.setName("standoffPartR")
.setManufacturing({ toMfg ->
return toMfg
.toXMin()
.toYMin()
.toZMin()
})
movedCastor.setManufacturing({ toMfg ->
return null
})
tire.setName("tire")
tirel.setName("tirel")
tire.setManufacturing({ toMfg ->
return null
})
tirel.setManufacturing({ toMfg ->
return null
})
motorBlankl.setManufacturing({ toMfg ->
return null
})
motorBlank.setManufacturing({ toMfg ->
return null
})
battery.setManufacturing({ toMfg ->
return null
})
plate2.setManufacturing({ toMfg ->
return null
})
cableGuide.setName("cableGuide")
.setManufacturing({ toMfg ->
return toMfg
.rotx(180)
.toZMin()
})
leftHinge.get(0).setName("lHingeUpper")
.setManufacturing({ toMfg ->
return toMfg
.rotx(180)
.toZMin()
})
rightHinge.get(0).setName("rHingeUpper")
.setManufacturing({ toMfg ->
return toMfg
.rotx(180)
.toZMin()
})
leftHinge.get(1).setName("lHingeLower")
.setManufacturing({ toMfg ->
return toMfg
.toZMin()
})
rightHinge.get(1).setName("rHingeLower")
.setManufacturing({ toMfg ->
return toMfg
.toZMin()
})
shortsensorStandOff.setName("shortsensorStandOff")
.setManufacturing({ toMfg ->
return toMfg
.toZMin()
})
plate.addExportFormat("svg")
plate.setName("plate")
.setManufacturing({ toMfg ->
return toMfg
.toZMin()
.movey(-gridUnits*2)
})
shortsensorPlate.addExportFormat("svg")// make an svg of the object
shortsensorPlate.setName("shortplate")
.setManufacturing({ toMfg ->
return toMfg
.toZMin()
})
longsensorStandOff.setName("longsensorStandOff")
.setManufacturing({ toMfg ->
return toMfg
.toZMin()
})
longsensorPlate.addExportFormat("svg")// make an svg of the object
longsensorPlate.setName("longplate")
.setManufacturing({ toMfg ->
return toMfg
.toZMin()
})
println "BottomOfPlate = "+BottomOfPlate
println "Plate dimentions x="+plate.getTotalX()+" y="+plate.getTotalY()
println "Weel center line to outer wall of bracket="+Math.abs(bracket.getMinX())
parts= [driveGear,driveGearl,bracket, bracketm,wheelAsmb,wheelAsmbl, movedCastor,standoffPart,
plate,tire,tirel,motorBlankl,
motorBlank,batteryBox,
standoffLeft,
standoffRight,
plate2,
leftHinge,rightHinge,
cableGuide,
shortsensorPlate,
shortsensorStandOff,
longsensorPlate,longsensorStandOff
]
return parts
def toProject =[bracket,wheelAsmb,tire,plate]
def toProjectF =[bracket,bracketm,wheelAsmb,wheelAsmbl,tire,plate,tirel]
def toProjectb =[plate,movedCastor,standoffPart]
projection = toProject.collect{
def back = it.roty(90)
.movex(-gridUnits*3)
.setName(it.getName()+"-projection")
back.addExportFormat("svg")
return back
}
projectionf = toProjectF.collect{
def back = it.rotx(-90)
.movey(-gridUnits*3)
.setName(it.getName()+"-projection-f")
back.addExportFormat("svg")
return back
}
projectionb = toProjectb.collect{
def back = it
.movey(-gridUnits*(wheelbaseIndexY-1))
.rotx(90)
.movey(gridUnits*(wheelbaseIndexY-1))
.movey(gridUnits*3)
.setName(it.getName()+"-projection-b")
back.addExportFormat("svg")
return back
}
return [parts,projection,projectionf]
println "Making a single STL assembly..."
def singleSTL = CSG.unionAll(parts)
singleSTL.setName("fullAssembly_DO_NOT_PRINT")
singleSTL.setManufacturing({ toMfg ->
return toMfg.movex(-wheelbase/2)
})
parts.add(singleSTL)
return parts