updated all pathes

hardware/parts/BOM.md

@@ -0,0 +1,8 @@
+| Part Name      | Quantity v1 | Quantity v2 |   Note   |
+| --------------:|:-----------:|:-----------:|:--------:|
+| base           |      1      |      1      |          |
+| U_horn_to_horn |      1      |      1      |          |
+| horn_to_horn   |      2      |      2      |          |
+| three_ollo     |      2      |      0      |          |
+| side_to_side   |      0      |      2      |          |
+| pen_holder     |      1      |      1      | Optional |

hardware/parts/U_horn_to_horn.scad

@@ -0,0 +1,5 @@
+include <../poppy_4dof_arm_mini_def.scad>
+
+use <../robotis-scad/frames/U_horn_to_horn_frame.scad>;
+
+U_horn_to_horn_frame(A);

hardware/parts/base.scad

@@ -0,0 +1,5 @@
+include <../poppy_4dof_arm_mini_def.scad>
+
+use <../specific_frames/base_frame.scad>;
+
+circular_base_frame(BaseRadius, BaseHeight);

hardware/parts/generate_stl.sh

@@ -15,6 +15,21 @@ scadArg="\$fn=$fn"
 # create the stl folder if it does not exist
 mkdir -p stl;
 
-# should be automated for all file in the folder
-echo "Generating partName..."
-openscad -o stl/partName.stl partName.scad -D $scadArg
+# should be automated
+echo "Generating base..."
+openscad -o stl/base.stl base.scad -D $scadArg
+
+echo "Generating side_to_side..."
+openscad -o stl/side_to_side.stl side_to_side.scad -D $scadArg
+
+echo "Generating U_horn_to_horn..."
+openscad -o stl/U_horn_to_horn.stl U_horn_to_horn.scad -D $scadArg
+
+echo "Generating horn_to_horn..."
+openscad -o stl/horn_to_horn.stl horn_to_horn.scad -D $scadArg
+
+echo "Generating three_ollo..."
+openscad -o stl/three_ollo.stl three_ollo.scad -D $scadArg
+
+echo "Generating pen_holder..."
+openscad -o stl/pen_holder.stl pen_holder.scad -D $scadArg

hardware/parts/horn_to_horn.scad

@@ -0,0 +1,6 @@
+include <../poppy_4dof_arm_mini_def.scad>
+include <../robotis-scad/ollo/ollo_def.scad>
+
+use <../robotis-scad/frames/horn_to_horn_frame.scad>;
+
+horn_to_horn_side_branch(C);

hardware/parts/pen_holder.scad

@@ -0,0 +1,5 @@
+include <../poppy_4dof_arm_mini_def.scad>
+
+use <../specific_frames/pen_holder_frame.scad>;
+
+pen_holder_frame(D);

hardware/parts/side_to_side.scad

@@ -0,0 +1,5 @@
+include <../poppy_4dof_arm_mini_def.scad>
+
+use <../robotis-scad/frames/side_to_side_frame.scad>;
+
+side_branch(B2);

hardware/parts/three_ollo.scad

@@ -0,0 +1,5 @@
+include <../poppy_4dof_arm_mini_def.scad>
+
+use <../robotis-scad/frames/three_ollo_frame.scad>;
+
+three_ollo_side_branch(B);

hardware/poppy_4dof_arm_mini.scad

@@ -0,0 +1,79 @@
+include <robotis-scad/ollo/ollo_def.scad>
+include <robotis-scad/dynamixel/xl320_def.scad>
+include <poppy_4dof_arm_mini_def.scad>
+
+use <robotis-scad/dynamixel/xl320.scad>;
+
+use <specific_frames/base_frame.scad>;
+use <specific_frames/pen_holder_frame.scad>;
+
+use <robotis-scad/frames/side_to_side_frame.scad>;
+use <robotis-scad/frames/U_horn_to_horn_frame.scad>;
+use <robotis-scad/frames/three_ollo_frame.scad>;
+use <robotis-scad/frames/horn_to_horn_frame.scad>;
+
+use <MCAD/rotate.scad>;
+
+
+module poppy_4dof_arm_mini_v1() {
+  circular_base_frame(BaseRadius, BaseHeight);
+  xl320();
+  translate_to_xl320_top()
+    verticalize_U_horn_to_horn_frame(A){
+      U_horn_to_horn_frame(A);
+      xl320_two_horns();
+      translate_to_box_back()
+        translate([0,OlloSpacing/2,0])
+          rotate([180,90,0])
+            add_three_ollo_frame(B)
+              rotate([0,-90,0])
+                translate([0,MotorLength-MotorAxisOffset-ollo_nLayer_thickness(1),0]){
+                  xl320_two_horns();
+                  rotate([0,-90,90])
+                    add_horn_to_horn_frame(C)
+                      rotate([180,-90,0]){
+                        xl320_two_horns();
+                        translate_to_box_back()
+                          translate([0,OlloLayerThickness,0])
+                            rotate([0,90,180])
+                              pen_holder_frame(D);
+                      }
+                }
+    }
+}
+
+module poppy_4dof_arm_mini_v2() {
+  circular_base_frame(BaseRadius, BaseHeight);
+  xl320();
+  translate_to_xl320_top()
+    verticalize_U_horn_to_horn_frame(A){
+      U_horn_to_horn_frame(A);
+      xl320_two_horns();
+          rotate([180,0,0])
+            add_side_to_side_frame(B2)
+              rotate([0,-180,0]){
+                  xl320_two_horns();
+                  rotate([0,-90,90])
+                    add_horn_to_horn_frame(C)
+                      rotate([180,-90,0]){
+                        xl320_two_horns();
+                        translate_to_box_back()
+                          translate([0,OlloLayerThickness,0])
+                            rotate([0,90,180])
+                              pen_holder_frame(D);
+                      }
+                }
+    }
+}
+// Testing
+echo("##########");
+echo("In poppy_4dof_arm_mini.scad");
+echo("This file should not be included, use ''use <filemane>'' instead.");
+echo("##########");
+
+p = 1;
+if (p==1) {
+  poppy_4dof_arm_mini_v1();
+  translate([100,0,0])
+    poppy_4dof_arm_mini_v2();
+}

hardware/poppy_4dof_arm_mini_def.scad

@@ -0,0 +1,12 @@
+include <robotis-scad/ollo/ollo_def.scad>
+include <robotis-scad/frames/frame_def.scad>
+include <specific_frames/specific_frame_def.scad>
+
+BaseRadius = CircularBaseFrameRadius;
+BaseHeight = CircularBaseFrameHeight+FrameTolerance;
+
+A = 25;
+B = 51;
+B2 = 81;
+C = 102;
+D = OlloSpacing+FrameTolerance;

hardware/specific_frames/base_frame.scad

@@ -0,0 +1,65 @@
+include <specific_frame_def.scad>
+
+include <../robotis-scad/frames/frame_def.scad>
+
+include <../robotis-scad/dynamixel/xl320_def.scad>
+include <../robotis-scad/ollo/ollo_def.scad>
+include <../robotis-scad/ollo_segments/ollo_segments_def.scad>
+
+use <../robotis-scad/ollo/ollo_tools.scad>
+use <../robotis-scad/ollo_segments/ollo_straight_segment.scad>
+use <../robotis-scad/ollo_segments/ollo_elbow_segment.scad>
+use <../robotis-scad/ollo_segments/ollo_xl320_segment.scad>;
+
+use <../MCAD/rotate.scad>;
+
+module side_branch(height, nLayer, width) {
+  thickness = ollo_segment_thickness(nLayer);
+
+  rotate([0,0,90])
+    translate([0,-1.5*OlloSpacing,0])
+      ollo_xl320_side_start_segment(nLayer, width);
+  translate([0, width/2, 0])
+    ollo_straight_segment(height-width/2, nLayer, 4*OlloSpacing);
+}
+
+module base_frame(height, nLayer=1, width=OlloSegmentWidth, tolerance=FrameTolerance) {
+
+  thickness = ollo_segment_thickness(nLayer);
+
+  translate([0, -1.5*OlloSpacing, 0])
+    rotate([-90,0,90]) {
+      translate([0,0,-MotorWidth/2-thickness/2-tolerance])
+        side_branch(height, nLayer, width);
+      mirror([0,0,1])
+        translate([0,0,-MotorWidth/2-thickness/2-tolerance])
+          side_branch(height, nLayer, width);
+    }
+}
+
+module circular_base_frame(radius=CircularBaseFrameRadius, height=CircularBaseFrameHeight, nLayer=1, width=OlloSegmentWidth) {
+
+  thickness = ollo_segment_thickness(nLayer);
+
+  base_frame(height+thickness);
+  translate([0,0,-height-thickness])
+    cylinder(r=radius, h=thickness);
+
+}
+
+// Testing
+echo("##########");
+echo("In base_frame.scad");
+echo("This file should not be included, use ''use <filemane>'' instead.");
+echo("##########");
+
+use <../robotis-scad/dynamixel/xl320.scad>
+
+p = 1;
+nLayer = 1;
+if (p==1) {
+
+  circular_base_frame();
+  xl320();
+
+}

hardware/specific_frames/pen_holder_frame.scad

@@ -0,0 +1,39 @@
+include <specific_frame_def.scad>
+
+include <../robotis-scad/frames/frame_def.scad>
+include <../robotis-scad/dynamixel/xl320_def.scad>
+include <../robotis-scad/ollo_segments/ollo_segments_def.scad>
+
+use <../robotis-scad/frames/U_three_ollo_to_horn_frame.scad>
+use <../robotis-scad/ollo_segments/ollo_straight_segment.scad>
+use <../segment-scad/elliptic_segment.scad>
+
+use <../MCAD/rotate.scad>;
+
+module pen_holder_frame(length=OlloSpacing+FrameTolerance, innerDiameter=PenHolderInnerDiameter){
+
+  U_three_ollo_to_horn_frame(length, OlloLayerThickness/2);
+
+  rotate([90,0,0])
+    translate([0,-OlloSegmentWidth/2,-length+ollo_segment_thickness(1)/2])
+  ollo_straight_segment(OlloSegmentWidth, 1, MotorHeight);
+
+  rotate([90,0,0])
+    translate([0,-OlloSegmentWidth/2,-innerDiameter/2-length])
+      elliptic_segment(OlloSegmentWidth, width=innerDiameter+2*ollo_segment_thickness(1), heigth=innerDiameter+2*ollo_segment_thickness(1), wallThickness=ollo_segment_thickness(1));
+}
+
+
+// Testing
+echo("##########");
+echo("In U_three_ollo_to_horn_frame.scad");
+echo("This file should not be included, use ''use <filemane>'' instead.");
+echo("##########");
+
+use <../robotis-scad/dynamixel/xl320.scad>
+
+p = 1;
+if (p==1) {
+  /*xl320();*/
+  pen_holder_frame();
+}

hardware/specific_frames/specific_frame_def.scad

@@ -0,0 +1,6 @@
+include <../robotis-scad/frames/frame_def.scad>
+
+CircularBaseFrameRadius = 50;
+CircularBaseFrameHeight = MotorHeight/2;
+
+PenHolderInnerDiameter = 12;