├── .gitignore
├── 3d_print
├── BallCaster.scad
├── BallCaster.stl
├── sumobot.scad
└── sumobot
│ ├── bottom.stl
│ ├── front-curved.stl
│ ├── front-flat.stl
│ ├── side.stl
│ ├── top-arduino.stl
│ ├── top-pinoccio.stl
│ └── wheel.stl
├── README.md
├── assets
├── 3dprintsumo.png
├── amalgamation.png
├── sumobotjr.png
└── synshop.png
├── code_example
├── .eslintrc
├── package.json
├── rover.js
├── spark-sumo.js
├── sumobot-sync.js
├── sumobot.js
└── thriller.js
├── cutting_plans
├── Build 2015 Maker Robot.svg
├── SumoBot_Jr.psvg
├── pdf
│ ├── SumoBot_Jr-3mm.pdf
│ ├── SumoBot_Jr-5mm.pdf
│ └── SumoBot_Jr-6mm.pdf
├── soccerbotjr-5mm_ponoko.eps
├── sumbotjr-3mm.eps
├── sumbotjr-3mm_ponoko.eps
├── sumbotjr-5mm.eps
├── sumbotjr-5mm_double_ponoko.eps
├── sumbotjr-5mm_double_ponoko_updated.eps
└── sumbotjr-5mm_ponoko.eps
├── fun_stuff
├── SoccerBot
│ ├── README.md
│ ├── WheelHub.scad
│ ├── WheelHub.stl
│ ├── soccer-mods.eps
│ └── soccerbot.png
├── kittytaim.ai
└── kittytaim.pdf
└── sumobot-instructions.pdf
/.gitignore:
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1 | code_example/node_modules/
2 | .DS_Store
3 |
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/3d_print/BallCaster.scad:
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1 | WallThickness = 2;
2 | BallSize = 15.88;
3 | Airgap = .5;
4 | Mount = 3;
5 | TotalHeight = 19.5;
6 | MountScrewRad = 1.5; //3mm screw
7 | BallProtrude = .33; //percentage of ball radius sticking out
8 |
9 | MountType = 1; //1=ears 2=center screw
10 | ScrewSpacing = 25;
11 |
12 |
13 | cylheight = TotalHeight;
14 | cylrad = (BallSize/2) + WallThickness + Airgap;
15 | echo (cylheight);
16 | difference () {
17 | cylinder(r1 = cylrad , r2 = cylrad, cylheight - (BallSize*BallProtrude));
18 |
19 | translate([0,0,TotalHeight - BallSize/2]) {
20 | cube(size = [cylrad*2+5, cylrad/2, BallSize*1.25], center = true );
21 | }
22 |
23 | translate([0,0,TotalHeight - (BallSize/2)]) {
24 | sphere (BallSize/2+Airgap, $fa=5, $fs=0.1);
25 | }
26 | }
27 |
28 | difference (){
29 | linear_extrude(height=Mount)
30 | hull() {
31 | translate([ScrewSpacing/2,0,0]) {
32 | circle( MountScrewRad*3);
33 | }
34 | translate([1-ScrewSpacing/2,0,0]) {
35 | circle( MountScrewRad*3);
36 | }
37 | circle( cylrad);
38 | }
39 |
40 | translate([ScrewSpacing/2,0,0]) {
41 | cylinder(r1 = MountScrewRad, r2 = MountScrewRad, h= Mount+2);
42 | }
43 | translate([1-ScrewSpacing/2,0,0]) {
44 | cylinder(r1 = MountScrewRad, r2 = MountScrewRad, h= Mount+2);
45 | }
46 | }
47 |
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/3d_print/sumobot.scad:
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1 | /*
2 | * =============================================================================
3 | * SumoBot Kit Master OpenSCAD File
4 | * =============================================================================
5 | * All measurements are in mm, because go metric or go home.
6 | */
7 |
8 | /* Build Flags - Variables to programatically select which part to output */
9 |
10 | build_laser_sheet = 1;
11 | build_wheel = 0;
12 | build_top = 0;
13 | build_shovel = 0;
14 | build_bottom = 0;
15 | build_side = 0;
16 |
17 | /* Features Flags */
18 |
19 | // For 3D printing, we can have a curved or flat shovel
20 | curved_shovel = 0;
21 |
22 | // For 3D printing, we can include a ball caster on the bottom
23 | built_in_caster = 0;
24 |
25 | // For 3D printing, we can have a built in wheel hub
26 | built_in_hub = 1;
27 |
28 | // For 3D printing, we can select a pinoccio mount for the top
29 | pinoccio_top = 0;
30 |
31 | /* Parameters */
32 |
33 | // Kerf is the amount of space removed by a cutting tool. I use it
34 | // here to describe how much space to leave between tabs and space.
35 | // For laser cutters, I use 0.05, for 3D printers I use 0.375
36 | kerf = 0.05;
37 |
38 | // How thick is the material? This also is the tab height.
39 | material_thickness = 4.75;
40 |
41 | // How high is the battery case?
42 | battery_case_height = 16;
43 |
44 | // How large is our servo hole?
45 | servo_height = 21.5;
46 | servo_length = 42.5;
47 |
48 | // How long is the sumo bot?
49 | sled_length = 80.5;
50 |
51 | // How wide is the sumo bot?
52 | sled_width = 63.5;
53 |
54 | // How close to the edge of the material do we place a tab?
55 | tab_edge_distance = 5;
56 |
57 | // How long are our tabs?
58 | tab_length = 10;
59 |
60 | // What is the angle that the sumobot shovel?
61 | ramp_angle = 80;
62 |
63 | // How wide is the shovel?
64 | shovel_width = 100;
65 |
66 | // How high is the shovel?
67 | shovel_height = 45;
68 |
69 | // Only for a 3D printed, curved shovel, how tall is the side?
70 | shovel_side_height = 20;
71 |
72 | // How big are our ziptie holes?
73 | ziptie_height = 5;
74 | ziptie_width = 2.5;
75 |
76 | // How big are the screw holes? 2.25mm is good for #4 wood screws
77 | screw_diameter = 2.25;
78 |
79 | // How far apart are our ball caster holes?
80 | caster_screw_spacing = 25;
81 |
82 | // How far back from the front do we place the caster?
83 | caster_position = 12;
84 |
85 | // How big are our wheels?
86 | wheel_radius = 30;
87 |
88 | // Caster Settings
89 | Caster_WallThickness = 2;
90 | Caster_BallSize = 12.5;
91 | Caster_Airgap = .5;
92 | Caster_TotalHeight = 14;
93 | Caster_BallProtrude = .33;
94 |
95 | // Servo Wheel
96 | SERVO_HEAD_CLEAR = 0.2;
97 | FUTABA_3F_SPLINE = [
98 | [6, 4, 1.1, 2.5],
99 | [25, 0.3, 0.7, 0.1]
100 | ];
101 | FUTABA_3F_SPLINE_KERF = [
102 | [6-(kerf/2), 4, 1.1, 2.5],
103 | [25, 0.3, 0.7, 0.1]
104 | ];
105 |
106 | /* Calculated Values */
107 |
108 | // Tab spacing account for kerf
109 | tab_spacing = kerf * 2;
110 |
111 | // We figure out the side based on a snug fit for the battery case
112 | sled_height = ((material_thickness + tab_edge_distance) * 2 ) +
113 | servo_height + battery_case_height;
114 |
115 | // Length of the ramp (bottom of the right triangle) depends on the angle
116 | ramp_length = cos( ramp_angle ) * sled_height;
117 |
118 | // We want to place the tab the correct tab distance on the bottom, so we need
119 | // to cut into the distance taken up by the ramp.
120 | ramp_tab_distance = cos(ramp_angle)*( tab_edge_distance + material_thickness);
121 |
122 | // The length of the sled plus the length of the ramp
123 | side_length = sled_length + ( cos( ramp_angle ) * (sled_height - tab_edge_distance) );
124 |
125 | /* Utility Modules */
126 |
127 | // A hole for a screw.
128 | module screw_hole() {
129 | circle(d=screw_diameter);
130 | }
131 |
132 | // Male side of the tab
133 | module tab() {
134 | square([tab_length, material_thickness]);
135 | }
136 |
137 | // Female side of the tab
138 | module tab_hole() {
139 | translate([tab_spacing/-2,tab_spacing/-2])
140 | square([tab_length + tab_spacing, material_thickness +tab_spacing]);
141 | }
142 |
143 | // A ziptie hole
144 | module ziptie_hole() {
145 | square([ziptie_width,ziptie_height]);
146 | }
147 |
148 | // Built-in ball caster
149 | module caster() {
150 | cylheight = Caster_TotalHeight;
151 | cylrad = (Caster_BallSize/2) + Caster_WallThickness + Caster_Airgap;
152 | difference () {
153 | cylinder(r1 = cylrad , r2 = cylrad, cylheight - (Caster_BallSize*Caster_BallProtrude));
154 | translate([0,0,Caster_TotalHeight - Caster_BallSize/2]) {
155 | cube(size = [cylrad*2+5, cylrad/2, Caster_BallSize*1.25], center = true );
156 | }
157 | translate([0,0,Caster_TotalHeight - (Caster_BallSize/2)]) {
158 | sphere (Caster_BallSize/2+Caster_Airgap, $fa=5, $fs=0.1);
159 | }
160 | }
161 | }
162 |
163 | // Servo mounting hole including a circular cutout for the wires
164 | module servo_hole() {
165 | square([servo_length, servo_height]);
166 | // screw holes
167 | translate([-4.5,(servo_height/2)+5])
168 | screw_hole();
169 | translate([-4.5,(servo_height/2)-5])
170 | screw_hole();
171 | translate([servo_length+4.5,(servo_height/2)+5])
172 | screw_hole();
173 | translate([servo_length+4.5,(servo_height/2)-5])
174 | screw_hole();
175 | // wire hole
176 | hull() {
177 | translate([servo_length-1,servo_height/2])
178 | square(6,center=true);
179 | translate([servo_length+2.5,servo_height/2])
180 | circle(3,center=true);
181 | }
182 |
183 | }
184 |
185 | // Mounting holes for an arduino
186 | module arduino_holes() {
187 | translate([-26.05,-24.1]) {
188 | translate([0, 15.2]) screw_hole();
189 | translate([0, 43.1]) screw_hole();
190 | translate([50.8, 0]) screw_hole();
191 | translate([52.1, 48.2]) screw_hole();
192 | }
193 | }
194 |
195 | // A special pinoccio shaped mount for the top of the bot
196 | module pinoccio_mount() {
197 | height = 11;
198 | base_width = 26.5;
199 | base_length = 45.5;
200 | bevel_width = 11;
201 | bevel_length =8.5;
202 | wall_thickness = 2;
203 | plug_hole_size = 3.5;
204 |
205 | translate([base_length/-2-bevel_length/-2,-base_width/2])
206 | difference() {
207 | linear_extrude(height)
208 | hull() {
209 | translate([0,-wall_thickness])
210 | square([base_length + wall_thickness,base_width + wall_thickness*2]);
211 | translate([-bevel_length - wall_thickness,base_width/2-bevel_width/2])
212 | square(bevel_width);
213 | }
214 | translate([0,0,-1])
215 | linear_extrude(height+2)
216 | hull() {
217 | square([base_length,base_width]);
218 | translate([-bevel_length,base_width/2-bevel_width/2])
219 | square(bevel_width);
220 | }
221 | translate([base_length-1, base_width/2,height])
222 | rotate([0,90])
223 | cylinder(r=plug_hole_size,h=wall_thickness+2);
224 | }
225 | }
226 |
227 | // The little curved part on the side of the curved shovel
228 | module sloped_support(size) {
229 | difference() {
230 | cube([size,material_thickness,size]);
231 | translate([size,material_thickness+1,size])
232 | rotate([90])
233 | cylinder(r=size-material_thickness,h=material_thickness+2);
234 | }
235 | }
236 |
237 | // Side for a curved shovel (___)
238 | module shovel_side() {
239 | cube([material_thickness,shovel_height,shovel_side_height]);
240 | sloped_support(shovel_side_height);
241 | translate([0,shovel_height-material_thickness])
242 | sloped_support(shovel_side_height);
243 | }
244 |
245 | module servo_head_tooth(length, width, height, head_height) {
246 | linear_extrude(height = head_height) {
247 | polygon([[-length / 2, 0], [-width / 2, height], [width / 2, height], [length / 2,0]]);
248 | }
249 | }
250 |
251 | // The little part that you can attach servo hubs to on a servo, used for the
252 | // built in hub option of the wheel.
253 | module servo_head(params, clear = SERVO_HEAD_CLEAR) {
254 |
255 | head = params[0];
256 | tooth = params[1];
257 |
258 | head_diameter = head[0];
259 | head_heigth = head[1];
260 |
261 | tooth_count = tooth[0];
262 | tooth_height = tooth[1];
263 | tooth_length = tooth[2];
264 | tooth_width = tooth[3];
265 |
266 | union() {
267 | cylinder(r = head_diameter / 2 + 0.1, h = head_heigth + 1);
268 |
269 | cylinder(r = head_diameter / 2 - tooth_height + 0.03 + clear, h = head_heigth);
270 |
271 | for (i = [0 : tooth_count]) {
272 | rotate([0, 0, i * (360 / tooth_count)]) {
273 | translate([0, head_diameter / 2 - tooth_height + clear, 0]) {
274 | servo_head_tooth(tooth_length, tooth_width, tooth_height, head_heigth);
275 | }
276 | }
277 | }
278 | }
279 | }
280 |
281 | // The little screw slot in the side of the sumo bot -
282 | module wheel_screw_slot() {
283 | hull() {
284 | translate([0,0,-1])
285 | cylinder(d=screw_diameter,h=material_thickness+2);
286 | translate([0,8,-1])
287 | cylinder(d=screw_diameter,h=material_thickness+2);
288 | }
289 | }
290 |
291 | /* Parts */
292 |
293 | // The side of the sumobot /___|
294 | module side() {
295 | linear_extrude(height=material_thickness)
296 | difference() {
297 |
298 | union() {
299 | square([sled_length, sled_height]);
300 | polygon([[0,0], [0,sled_height], [-ramp_length,0]] );
301 | translate([-ramp_length/2,sled_height/2])
302 | rotate(ramp_angle)
303 | translate([-tab_length/2,-0.1])
304 | tab();
305 | }
306 |
307 | // Servo hole
308 | translate([sled_length - servo_length - tab_length - tab_edge_distance - tab_edge_distance,
309 | material_thickness + tab_edge_distance])
310 | servo_hole();
311 |
312 | // Bottom right
313 | translate([sled_length - tab_length - tab_edge_distance, tab_edge_distance])
314 | tab_hole();
315 |
316 | // Bottom Left
317 | translate([-ramp_length + ramp_tab_distance + tab_edge_distance,
318 | tab_edge_distance])
319 | tab_hole();
320 |
321 | // Top left
322 | translate([tab_edge_distance, sled_height - material_thickness - tab_edge_distance])
323 | tab_hole();
324 |
325 | // Top right
326 | translate([sled_length - tab_length - tab_edge_distance,
327 | sled_height - material_thickness - tab_edge_distance])
328 | tab_hole();
329 | }
330 | }
331 |
332 | // The bottom of the sumobot [: ]
333 | module bottom(built_in_caster=built_in_caster) {
334 | bottom_offset = (ramp_length + sled_length) - side_length;
335 | translate([bottom_offset, 0])
336 | linear_extrude(height=material_thickness)
337 | difference() {
338 | union() {
339 | square([side_length,sled_width]);
340 | translate([-bottom_offset + ramp_tab_distance + tab_edge_distance,-material_thickness])
341 | tab();
342 | translate([-bottom_offset + ramp_tab_distance + tab_edge_distance, sled_width])
343 | tab();
344 | translate([side_length-tab_length-tab_edge_distance,sled_width])
345 | tab();
346 | translate([side_length-tab_length-tab_edge_distance,-material_thickness])
347 | tab();
348 | }
349 |
350 | // Screw Holes
351 | if (!built_in_caster) {
352 | translate([caster_position, sled_width/2 + caster_screw_spacing/2]) screw_hole();
353 | translate([caster_position, sled_width/2 - caster_screw_spacing/2]) screw_hole();
354 | }
355 |
356 | // Ziptie Holes
357 | translate([side_length - servo_length - tab_length - tab_edge_distance -
358 | tab_edge_distance - ziptie_width, servo_height/2 - (ziptie_height/2)])
359 | ziptie_hole(); // Bottom Left
360 | translate([side_length - servo_length - tab_length - tab_edge_distance -
361 | tab_edge_distance - ziptie_width, sled_width - ziptie_height - servo_height/2 + (ziptie_height/2)])
362 | ziptie_hole(); // Top Left
363 | translate([side_length - tab_length - tab_edge_distance - tab_edge_distance,
364 | servo_height/2 - (ziptie_height/2)])
365 | ziptie_hole(); // Bottom Right
366 | translate([side_length - tab_length - tab_edge_distance - tab_edge_distance,
367 | sled_width - ziptie_height - servo_height/2 + (ziptie_height/2)])
368 | ziptie_hole(); // Top Right
369 | }
370 | // Caster
371 | if (built_in_caster) {
372 | rotate([0,0,90])
373 | translate([sled_width/2, -caster_position, material_thickness])
374 | caster();
375 | }
376 |
377 | }
378 |
379 | // The top of the sumobot. [: ;]
380 | module top() {
381 | union() {
382 | linear_extrude(height=material_thickness)
383 | difference() {
384 | union() {
385 | square([sled_length,sled_width]);
386 | translate([tab_edge_distance,-material_thickness])
387 | tab();
388 | translate([tab_edge_distance,sled_width])
389 | tab();
390 | translate([sled_length-tab_length-tab_edge_distance,sled_width])
391 | tab();
392 | translate([sled_length-tab_length-tab_edge_distance,-material_thickness])
393 | tab();
394 | }
395 | translate([sled_length/2,sled_width/2]) arduino_holes();
396 | }
397 | if ( pinoccio_top ) {
398 | translate([sled_length/2,sled_width/2,material_thickness])
399 | pinoccio_mount();
400 | }
401 | }
402 | }
403 |
404 | // The front of the sumobot [ ' '' ]
405 | module shovel(curved_shovel=curved_shovel) {
406 | union() {
407 | linear_extrude(height=material_thickness)
408 | difference() {
409 | square([shovel_width, shovel_height]);
410 | translate([ shovel_width/2 - sled_width/2, shovel_height/2 - tab_length/2])
411 | rotate([0,0,90]) tab_hole();
412 | translate([shovel_width/2 + sled_width/2 + material_thickness, shovel_height/2 - tab_length/2])
413 | rotate([0,0,90]) tab_hole();
414 | }
415 | if (curved_shovel) {
416 | shovel_side();
417 | translate([shovel_width,shovel_height])
418 | rotate([0,0,180])
419 | shovel_side();
420 | }
421 | }
422 | }
423 |
424 | // Sumobot wheel ( )
425 | module wheel(built_in_hub=built_in_hub) {
426 | layer_height = material_thickness/3;
427 | difference() {
428 | union() {
429 | cylinder(r=wheel_radius,h=layer_height);
430 | cylinder(r=wheel_radius-0.5,h=material_thickness);
431 | translate([0,0,layer_height*2])
432 | cylinder(r=wheel_radius,h=layer_height);
433 | if (built_in_hub)
434 | cylinder(r=5,h=4.5);
435 | }
436 | translate([0,0,-1])
437 | cylinder(d=screw_diameter,h=material_thickness+2);
438 | if (built_in_hub) {
439 | translate([0,0,1])
440 | servo_head(FUTABA_3F_SPLINE);
441 | } else {
442 | servo_head(FUTABA_3F_SPLINE_KERF);
443 | // screw hole
444 | translate([0,7])
445 | wheel_screw_slot();
446 | translate([0,-15])
447 | wheel_screw_slot();
448 | }
449 | }
450 | }
451 |
452 | // When we want to make a file for laser cutting, we can use this to keep
453 | // all components on one sheet.
454 | module laser_sheet(spacing=2) {
455 |
456 | // We want high resolution circles.
457 | $fn = 50;
458 |
459 | // Right Side
460 | translate([sled_length+spacing, sled_height+spacing]) mirror([1,0,0])
461 | side();
462 | translate([ramp_length+spacing,-shovel_height - spacing])
463 | side();
464 | translate([spacing-ramp_length,sled_height-shovel_height])
465 | shovel(curved_shovel=0);
466 | translate([wheel_radius+spacing,-shovel_height-wheel_radius-spacing*2])
467 | wheel(built_in_hub=0);
468 |
469 |
470 | // Left Side
471 | translate([0,-wheel_radius/2]) {
472 | translate([-wheel_radius,sled_width+wheel_radius+material_thickness])
473 | wheel(built_in_hub=0);
474 | translate([-sled_length - ramp_length, 0])
475 | top();
476 | translate([-sled_length - ramp_length, -sled_width - material_thickness * 2 - spacing ])
477 | bottom(built_in_caster=0);
478 | }
479 |
480 | }
481 |
482 | /* Part Output */
483 |
484 | if ( build_laser_sheet ) {
485 | projection(cut=true)
486 | laser_sheet(2);
487 | }
488 |
489 | if ( build_wheel ) {
490 | wheel();
491 | }
492 |
493 | if ( build_top ) {
494 | top();
495 | }
496 |
497 | if ( build_shovel ) {
498 | shovel();
499 | }
500 |
501 | if ( build_bottom ) {
502 | bottom();
503 | }
504 |
505 | if ( build_side ) {
506 | side();
507 | }
508 |
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/3d_print/sumobot/front-curved.stl:
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1067 |
--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # Sumobot Jr.
2 |
3 | Sumobot Jr. is an open source sumobot design made for [Nodebots Day](http://nodebotsday.com). Most existing sumo kits cost between $99 and $160. Since we're trying to keep our event costs down, I decided to try to design a bot that could be put together for around $50 including the cost of the Arduino. The name and design are inspired by the simplicity and zip-tied wooden beauty of the [Printrbot Jr](http://printrbot.com/).
4 |
5 | 
6 |
7 | ## How ?
8 |
9 | If you're planning on laser cutting the bots, you should use the OpenSCAD source file to generate a cutting plan for your specific type of laser cutter and material thickness. There's a wiki article for that!
10 |
11 | [Laser Cutting with the OpenSCAD file](https://github.com/makenai/sumobot-jr/wiki/Working-with-the-OpenSCAD-file)
12 |
13 | If you want to jump right into it, you can watch this instructional video, but note that you may not want to clip the wires if you plan to reuse the servos for something else:
14 |
15 | [Sumobot Jr Assembly video for Nodebots Day 7/27](http://www.youtube.com/watch?v=0Q3hrKUwxDM)
16 |
17 | [Customizing Sumobot Jr with Suziam and cats](http://www.youtube.com/watch?v=BB0vihv9ylM)
18 |
19 | [IKEA-style Assembly Instruction Card](http://makenai.github.io/sumobot-jr/sumobot-instructions.pdf)
20 |
21 | [Microsoft's version for Build 2015 on Raspberry Pi + Windows 10](https://www.youtube.com/watch?v=aKCieb-Gf2g)
22 |
23 | [Katie K's No Solder Guide](http://katiek2.github.io/sumobot-nosolder/)
24 |
25 | [Frank Hunleth's Arduino Mini Shield](https://oshpark.com/shared_projects/TEsKZkdg)
26 |
27 | [Norfolk.js's Shopping List](https://github.com/norfolkjs/general-info/wiki/Norfolk.js-SumoBot-Kits)
28 |
29 | [Sidepart adaptors for MG-6-48 DC-Motors from ghtomcat](https://github.com/ghtomcat/sumobot)
30 |
31 | The main part of the design is a cutting sheet in EPS file format that is designed to be used with a laser cutter. You can find it in the cutting_plans directory. If you don't have a laser cutter, you can use a CNC, tape your printout to balsa wood and go at it with an x-acto knife, or send it to a laser cutting service like [Ponoko](https://www.ponoko.com/) and get the sheet done for about $10.
32 |
33 | There is also a directory called 3d_print that contains an STL file for a ball caster designed by [sliptonic](http://www.thingiverse.com/thing:13782) - the STL is set up for a 16mm ball bearing, but you can make one for other sizes with the included OpenSCAD file.
34 |
35 | **NEW** Microsoft has created a tutorial and version of the bot kit for [Build 2015](http://www.buildwindows.com/). You can find their version of the cutting plan for Ponoko in this repository, and also check out their [tutorial using Raspberry Pi and Windows 10](http://microsoft.hackster.io/windowsiot/robot-kit).
36 |
37 | There is a completely 3D printable version available at [Thingiverse](http://www.thingiverse.com/thing:357369) now.
38 |
39 | [
](http://www.thingiverse.com/thing:357369)
40 |
41 | ## What if I don't have a Laser Cutter / 3D Printer?!
42 |
43 | Neither do I! The best way to get some help creating the parts is to look up your local [Hackerspace or Makerspace ](http://hackerspaces.org) and connect with them. I belong to a fantastic hackerspace in Las Vegas called [SYN Shop](http://synshop.org)!
44 |
45 | [
](http://synshop.org)
46 |
47 | If you don't have a hackerspace nearby, you can also use a mail order service like [Ponoko](http://ponoko.com) that does both 3D printing and laser cutting.
48 |
49 | ## Other Parts Needed
50 |
51 | + [Arduino](https://www.pololu.com/product/2191) - ~$25
52 | + [4xAA battery holder](http://www.amazon.com/gp/product/B007Q2NR1O/ref=oh_aui_search_detailpage?ie=UTF8&psc=1) - $2
53 | + 2 Zip ties - ?
54 | + 5 \#4 3/8" wood screws - ?
55 | + Thick rubber bands - ?
56 | + 2 continuous servo motors like [Futaba S148](http://www.pololu.com/catalog/product/536) or the ones from [SpringRC](http://www.pololu.com/product/1248) - $24-$28
57 | + Some wire or leads
58 | + 16mm ball bearing - ?
59 |
60 | ## No-solder Wiring Diagram (thanks @katiek2)
61 |
62 | 
63 |
64 | That's about it! Connect the red and black leads on the servos together, then connect them to the + and - terminals on the battery holder respectively. Then connect the black leads and - terminal to the ground of the Arduino. Finally, the white leads of each motor go to pins 9 and 10 (or whatever you like) on the Arduino - you're done!
65 |
66 | ## Sample Code
67 |
68 | To run the sample code for the Sumobot Jr., you will first need to install [Node.js](http://nodejs.org/) and [git](https://git-scm.com).
69 |
70 | Open a terminal application and clone this repository:
71 | ```
72 | git clone https://github.com/makenai/sumobot-jr
73 | ```
74 |
75 | Navigate to the code folder:
76 | ```
77 | cd code_example
78 | ```
79 |
80 | Install code dependencies:
81 |
82 | ```
83 | npm i
84 | ```
85 |
86 | Run the code:
87 |
88 | ```
89 | node sumobot.js
90 | ```
91 |
92 | ## License
93 |
94 | [Creative Commons - Attribution - ShareAlike 3.0](http://creativecommons.org/licenses/by-sa/3.0/)
95 |
96 | You are free to:
97 |
98 | + to Share — to copy, distribute and transmit the work, and
99 | + to Remix — to adapt the work
100 | + Under the following conditions:
101 | + Attribution — You must attribute the work in the manner specified by the author or licensor (but not in any way that suggests that they endorse you or your use of the work)
102 | + Share Alike — If you alter, transform, or build upon this work, you may distribute the resulting work only under the same, similar or a compatible license.
103 |
104 | With the understanding that:
105 |
106 | + Waiver — Any of the above conditions can be waived if you get permission from the copyright holder.
107 | + Other Rights — In no way are any of the following rights affected by the license:
108 | + your fair dealing or fair use rights;
109 | + the author's moral rights; and
110 | + rights other persons may have either in the work itself or in how the work is used, such as publicity or privacy rights.
111 |
112 | ## Credits
113 |
114 | Made by
115 |
116 | 
117 |
118 | Design by [@makenai](http://twitter.com/makenai) with feedback and ideas from [@noopkat](http://twitter.com/noopkat) aka (by their powers combined) Amalgamation of Cats.
119 |
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/assets/3dprintsumo.png:
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/assets/amalgamation.png:
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/assets/sumobotjr.png:
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/assets/synshop.png:
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https://raw.githubusercontent.com/makenai/sumobot-jr/1cd74a93322bbf306e98cd1b6e0ea67e94468178/assets/synshop.png
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/code_example/.eslintrc:
--------------------------------------------------------------------------------
1 | env:
2 | node: true
3 | browser: true
4 |
5 | ecmaFeatures:
6 | jsx: true
7 |
8 | rules:
9 | camelcase: 2
10 | eol-last: 2
11 | quotes: [2, "single", "avoid-escape"]
12 | no-mixed-spaces-and-tabs: 2
13 | no-trailing-spaces: 2
14 | no-underscore-dangle: 0
15 | no-unused-vars: [1, { "args": "none" }]
16 |
--------------------------------------------------------------------------------
/code_example/package.json:
--------------------------------------------------------------------------------
1 | {
2 | "author": "David Resseguie ",
3 | "name": "sumobot-jr",
4 | "version": "1.0.0",
5 | "description": "SumoBot Jr Examples",
6 | "homepage": "",
7 | "dependencies": {
8 | "bluebird": "latest",
9 | "johnny-five": "latest",
10 | "keypress": "latest",
11 | "spark-io": "latest",
12 | "temporal": "latest"
13 | },
14 | "devDependencies": {
15 | "eslint": "latest"
16 | },
17 | "repository": "",
18 | "engines": {
19 | "node": "0.10.31"
20 | }
21 | }
22 |
--------------------------------------------------------------------------------
/code_example/rover.js:
--------------------------------------------------------------------------------
1 | 'use strict';
2 |
3 | var five = require('johnny-five');
4 | var board = new five.Board();
5 | var keypress = require('keypress');
6 |
7 | board.on('ready', function() {
8 | // Use your shield configuration from the list
9 | // http://johnny-five.io/api/motor/#pre-packaged-shield-configs
10 | var configs = five.Motor.SHIELD_CONFIGS.ADAFRUIT_V1;
11 | var motors = new five.Motors([
12 | configs.M1,
13 | configs.M2
14 | ]);
15 |
16 | this.repl.inject({
17 | motors: motors
18 | });
19 |
20 | console.log('Welcome to the Pee Wee Runt Rover!');
21 | console.log('Control the bot with the arrow keys, and SPACE to stop.');
22 |
23 | function forward() {
24 | console.log('Going forward');
25 | motors.fwd(255);
26 | }
27 |
28 | function backward() {
29 | console.log('Going backward');
30 | motors.rev(255);
31 | }
32 |
33 | function left() {
34 | console.log('Going left');
35 | motors[0].rev(200);
36 | motors[1].fwd(200);
37 | }
38 |
39 | function right() {
40 | console.log('Going right');
41 | motors[1].rev(200);
42 | motors[0].fwd(200);
43 | }
44 |
45 | function stop() {
46 | motors.stop();
47 | }
48 |
49 | keypress(process.stdin);
50 | process.stdin.resume();
51 | process.stdin.setEncoding('utf8');
52 | process.stdin.setRawMode(true);
53 | process.stdin.on('keypress', function (ch, key) {
54 |
55 | if ( !key ) { return; }
56 |
57 | if ( key.name === 'q' ) {
58 |
59 | console.log('Quitting');
60 | stop();
61 | process.exit();
62 |
63 | } else if ( key.name === 'up' ) {
64 |
65 | forward();
66 |
67 | } else if ( key.name === 'down' ) {
68 |
69 | backward();
70 |
71 | } else if ( key.name === 'left' ) {
72 |
73 | left();
74 |
75 | } else if ( key.name === 'right' ) {
76 |
77 | right();
78 |
79 | } else if ( key.name === 'space' ) {
80 |
81 | stop();
82 |
83 | }
84 | });
85 | });
86 |
--------------------------------------------------------------------------------
/code_example/spark-sumo.js:
--------------------------------------------------------------------------------
1 | // ================================================
2 | // Sumobot Jr demo program (wireless with Spark-IO)
3 | // ================================================
4 |
5 | 'use strict';
6 |
7 | var five = require('johnny-five');
8 | var Spark = require('spark-io');
9 | var keypress = require('keypress');
10 |
11 | keypress(process.stdin);
12 |
13 | var board = new five.Board({
14 | io: new Spark({
15 | token: process.env.SPARK_TOKEN,
16 | deviceId: process.env.SPARK_DEVICE_ID
17 | })
18 | });
19 |
20 | board.on('ready', function() {
21 |
22 | console.log('Welcome to Sumobot Jr, powered wirelessly with the Spark Core!')
23 | console.log('Control the bot with the arrow keys, and SPACE to stop.')
24 |
25 | var leftWheel = new five.Servo({ pin: 'D0', type: 'continuous' }).stop();
26 | var rightWheel = new five.Servo({ pin: 'D1', type: 'continuous' }).stop();
27 |
28 | process.stdin.resume();
29 | process.stdin.setEncoding('utf8');
30 | process.stdin.setRawMode(true);
31 |
32 | process.stdin.on('keypress', function (ch, key) {
33 |
34 | if ( !key ) { return; }
35 |
36 | if ( key.name === 'q' ) {
37 |
38 | console.log('Quitting');
39 | process.exit();
40 |
41 | } else if ( key.name === 'up' ) {
42 |
43 | console.log('Forward');
44 | leftWheel.ccw(0.9);
45 | rightWheel.cw(0.9);
46 |
47 | } else if ( key.name === 'down' ) {
48 |
49 | console.log('Backward');
50 | leftWheel.cw(0.9);
51 | rightWheel.ccw(0.9);
52 |
53 | } else if ( key.name === 'left' ) {
54 |
55 | console.log('Left');
56 | leftWheel.ccw(0.9);
57 | rightWheel.ccw(0.9);
58 |
59 |
60 | } else if ( key.name === 'right' ) {
61 |
62 | console.log('Right');
63 | leftWheel.cw(0.9);
64 | rightWheel.cw(0.9);
65 |
66 | } else if ( key.name === 'space' ) {
67 |
68 | console.log('Stopping');
69 | leftWheel.stop();
70 | rightWheel.stop();
71 |
72 | }
73 |
74 | });
75 |
76 | });
77 |
--------------------------------------------------------------------------------
/code_example/sumobot-sync.js:
--------------------------------------------------------------------------------
1 | // =======================
2 | // Sumobot Jr demo program
3 | // =======================
4 |
5 | 'use strict';
6 |
7 | var five = require('johnny-five');
8 | var keypress = require('keypress');
9 |
10 | keypress(process.stdin);
11 |
12 | var robot = {};
13 | robot.delay = 0;
14 | robot.sendCmd = function(type, action, ms) {
15 | this.delay += ms;
16 | var cmd = this[type][action];
17 | setTimeout(cmd, this.delay);
18 | return this;
19 | };
20 | robot.done = function() {
21 | setTimeout(function() {
22 | console.log('finished!');
23 | }, this.delay);
24 | this.delay = 0;
25 | };
26 |
27 | var board = new five.Board();
28 |
29 | board.on('ready', function() {
30 |
31 | console.log('Welcome to Sumobot Jr!');
32 | console.log('Control the bot with the arrow keys, and SPACE to stop.');
33 |
34 | robot.leftWheel = new five.Servo({ pin: 9, type: 'continuous' }).stop();
35 | robot.rightWheel = new five.Servo({ pin: 10, type: 'continuous' }).stop();
36 |
37 | robot.move = {};
38 | robot.move.forward = function() {
39 | console.log('moving forward...');
40 | robot.leftWheel.ccw();
41 | robot.rightWheel.cw();
42 | };
43 | robot.move.backward = function() {
44 | console.log('moving backward...');
45 | robot.leftWheel.cw();
46 | robot.rightWheel.ccw();
47 | };
48 | robot.move.left = function() {
49 | console.log('turning left...');
50 | robot.leftWheel.ccw();
51 | robot.rightWheel.ccw();
52 | };
53 | robot.move.right = function() {
54 | console.log('turning right...');
55 | robot.leftWheel.cw();
56 | robot.rightWheel.cw();
57 | };
58 | robot.move.stop = function() {
59 | console.log('stopping...');
60 | robot.leftWheel.stop();
61 | robot.rightWheel.stop();
62 | };
63 |
64 | process.stdin.resume();
65 | process.stdin.setEncoding('utf8');
66 | process.stdin.setRawMode(true);
67 |
68 | process.stdin.on('keypress', function (ch, key) {
69 |
70 | if ( !key ) { return; }
71 |
72 | switch (key.name) {
73 | case 'q':
74 | console.log('quitting!');
75 | process.exit();
76 | break;
77 | case 'up':
78 | console.log('moving forward...');
79 | robot.move.forward();
80 | break;
81 | case 'down':
82 | console.log('moving backward...');
83 | robot.move.backward();
84 | break;
85 | case 'left':
86 | console.log('turning left...');
87 | robot.move.left();
88 | break;
89 | case 'right':
90 | console.log('moving backward...');
91 | robot.move.right();
92 | break;
93 | case 'space':
94 | console.log('stopping...');
95 | robot.move.stop();
96 | break;
97 | case 'u':
98 | console.log('custom choreography...');
99 |
100 | // queue up the commands for our robot!
101 | robot.sendCmd('move', 'forward', 0)
102 | .sendCmd('move', 'backward', 300)
103 | .sendCmd('move', 'forward', 300)
104 | .sendCmd('move', 'stop', 300)
105 | .done();
106 | break;
107 | }
108 |
109 | });
110 |
111 |
112 | });
113 |
--------------------------------------------------------------------------------
/code_example/sumobot.js:
--------------------------------------------------------------------------------
1 | // =======================
2 | // Sumobot Jr demo program
3 | // =======================
4 |
5 | 'use strict';
6 |
7 | var five = require('johnny-five');
8 | var keypress = require('keypress');
9 |
10 |
11 | var board = new five.Board();
12 |
13 | board.on('ready', function() {
14 |
15 | console.log('Welcome to Sumobot Jr!');
16 | console.log('Control the bot with the arrow keys, and SPACE to stop.');
17 |
18 | var leftWheel = new five.Servo({ pin: 9, type: 'continuous' }).stop();
19 | var rightWheel = new five.Servo({ pin: 10, type: 'continuous' }).stop();
20 |
21 |
22 | keypress(process.stdin);
23 | process.stdin.resume();
24 | process.stdin.setEncoding('utf8');
25 | process.stdin.setRawMode(true);
26 | process.stdin.on('keypress', function (ch, key) {
27 |
28 | if ( !key ) { return; }
29 |
30 | if ( key.name === 'q' ) {
31 |
32 | console.log('Quitting');
33 | process.exit();
34 |
35 | } else if ( key.name === 'up' ) {
36 |
37 | console.log('Forward');
38 | leftWheel.ccw();
39 | rightWheel.cw();
40 |
41 | } else if ( key.name === 'down' ) {
42 |
43 | console.log('Backward');
44 | leftWheel.cw();
45 | rightWheel.ccw();
46 |
47 | } else if ( key.name === 'left' ) {
48 |
49 | console.log('Left');
50 | leftWheel.ccw();
51 | rightWheel.ccw();
52 |
53 |
54 | } else if ( key.name === 'right' ) {
55 |
56 | console.log('Right');
57 | leftWheel.cw();
58 | rightWheel.cw();
59 |
60 | } else if ( key.name === 'space' ) {
61 |
62 | console.log('Stopping');
63 | leftWheel.stop();
64 | rightWheel.stop();
65 |
66 | }
67 | });
68 | });
69 |
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/code_example/thriller.js:
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1 | // ===================================
2 | // Sumobot Jr "Thriller" dance program
3 | // ===================================
4 |
5 | 'use strict';
6 |
7 | var five = require('johnny-five');
8 | var keypress = require('keypress');
9 | var promise = require('bluebird');
10 | var board = new five.Board();
11 |
12 |
13 | board.on('ready', function() {
14 |
15 | var leftWheel = new five.Servo({ pin: 9, type: 'continuous' }).stop();
16 | var rightWheel = new five.Servo({ pin: 10, type: 'continuous' }).stop();
17 |
18 |
19 | keypress(process.stdin);
20 | process.stdin.resume();
21 | process.stdin.setEncoding('utf8');
22 | process.stdin.setRawMode(true);
23 |
24 | var okay = promise.resolve();
25 |
26 | var beat = 508;
27 |
28 | function stop() {
29 |
30 | console.log('Stopping');
31 | leftWheel.stop();
32 | rightWheel.stop();
33 | }
34 |
35 | function turnleft() {
36 |
37 | console.log('Left');
38 | leftWheel.ccw();
39 | rightWheel.ccw();
40 | }
41 |
42 | function turnright() {
43 |
44 | console.log('Right');
45 | leftWheel.cw();
46 | rightWheel.cw();
47 | }
48 |
49 | function forward() {
50 |
51 | console.log('Forward');
52 | leftWheel.ccw();
53 | rightWheel.cw();
54 | }
55 |
56 | function back() {
57 |
58 | console.log('Backward');
59 | leftWheel.cw();
60 | rightWheel.ccw();
61 | }
62 |
63 |
64 | process.stdin.on('keypress', function (ch, key) {
65 |
66 |
67 | if ( !key ) { return; }
68 |
69 |
70 | if ( key.name === 'q' ) {
71 |
72 | console.log('Quitting');
73 | process.exit();
74 |
75 | }
76 |
77 | if ( key.name === 'space' ) {
78 |
79 | for(var i = 0; i < 10; i++) {
80 | if(i === 6){
81 | okay = okay.delay(beat * 2);
82 | for(var j = 0; j < 16; j++){
83 | okay = okay.then(forward);
84 | okay = okay.delay(beat);
85 | okay = okay.then(back);
86 | okay = okay.then(beat);
87 | }
88 | continue;
89 | }
90 |
91 | okay = okay.then(turnleft);
92 | okay = okay.delay(4 * beat);
93 | okay = okay.then(turnright);
94 | okay = okay.delay(4 * beat);
95 | okay = okay.then(forward);
96 | okay = okay.delay(4 * beat);
97 | okay = okay.then(back);
98 | okay = okay.delay(4 * beat);
99 | okay = okay.then(stop);
100 | }
101 | }
102 | });
103 | });
104 |
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2 |
4 |
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/fun_stuff/SoccerBot/README.md:
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1 | ##SoccerBot Mod
2 |
3 | 
4 |
5 | These modifications were created quickly and dirtily for the [JSConf 2014](http://2014.jsconf.us/) SoccerBot tournament. Just replacement wheels, shovel and a 3D printable wheel hub that is an improvement over the old wooden method!
6 |
7 | [](https://www.youtube.com/watch?v=CcCwjnWBoJ8)
8 |
9 | Want to see the matches?
10 |
11 | [](https://www.youtube.com/watch?v=kE-g8LFVeYw)
12 |
13 | [](https://www.youtube.com/watch?v=HgWbxDNJleQ)
14 |
15 | [](https://www.youtube.com/watch?v=ViGQqndk6Og)
16 |
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/fun_stuff/SoccerBot/WheelHub.scad:
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1 | /**
2 | * Parametric servo arm generator for OpenScad
3 | * Générateur de palonnier de servo pour OpenScad
4 | *
5 | * Copyright (c) 2012 Charles Rincheval. All rights reserved.
6 | *
7 | * This library is free software; you can redistribute it and/or
8 | * modify it under the terms of the GNU Lesser General Public
9 | * License as published by the Free Software Foundation; either
10 | * version 2.1 of the License, or (at your option) any later version.
11 | *
12 | * This library is distributed in the hope that it will be useful,
13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of
14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 | * Lesser General Public License for more details.
16 | *
17 | * You should have received a copy of the GNU Lesser General Public
18 | * License along with this library; if not, write to the Free Software
19 | * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
20 | *
21 | * Last update :
22 | * https://github.com/hugokernel/OpenSCAD_ServoArms
23 | *
24 | * http://www.digitalspirit.org/
25 | */
26 |
27 | $fn = 40;
28 |
29 | /**
30 | * Clear between arm head and servo head
31 | * With PLA material, use clear : 0.3, for ABS, use 0.2
32 | */
33 | SERVO_HEAD_CLEAR = 0.2;
34 |
35 | /**
36 | * Head / Tooth parameters
37 | * Futaba 3F Standard Spline
38 | * http://www.servocity.com/html/futaba_servo_splines.html
39 | *
40 | * First array (head related) :
41 | * 0. Head external diameter
42 | * 1. Head heigth
43 | * 2. Head thickness
44 | * 3. Head screw diameter
45 | *
46 | * Second array (tooth related) :
47 | * 0. Tooth count
48 | * 1. Tooth height
49 | * 2. Tooth length
50 | * 3. Tooth width
51 | */
52 | FUTABA_3F_SPLINE = [
53 | [6, 4, 1.1, 2.5],
54 | [25, 0.3, 0.7, 0.1]
55 | ];
56 |
57 | module servo_futaba_3f(length, count) {
58 | servo_arm(FUTABA_3F_SPLINE, [length, count]);
59 | }
60 |
61 | /**
62 | * If you want to support a new servo, juste add a new spline definition array
63 | * and a module named like servo_XXX_YYY where XXX is servo brand and YYY is the
64 | * connection type (3f) or the servo type (s3003)
65 | */
66 |
67 | module servo_standard(length, count) {
68 | servo_futaba_3f(length, count);
69 | }
70 |
71 | /**
72 | * Tooth
73 | *
74 | * |<-w->|
75 | * |_____|___
76 | * / \ ^h
77 | * _/ \_v
78 | * |<--l-->|
79 | *
80 | * - tooth length (l)
81 | * - tooth width (w)
82 | * - tooth height (h)
83 | * - height
84 | *
85 | */
86 | module servo_head_tooth(length, width, height, head_height) {
87 | linear_extrude(height = head_height) {
88 | polygon([[-length / 2, 0], [-width / 2, height], [width / 2, height], [length / 2,0]]);
89 | }
90 | }
91 |
92 | /**
93 | * Servo head
94 | */
95 | module servo_head(params, clear = SERVO_HEAD_CLEAR) {
96 |
97 | head = params[0];
98 | tooth = params[1];
99 |
100 | head_diameter = head[0];
101 | head_heigth = head[1];
102 |
103 | tooth_count = tooth[0];
104 | tooth_height = tooth[1];
105 | tooth_length = tooth[2];
106 | tooth_width = tooth[3];
107 |
108 | % cylinder(r = head_diameter / 2, h = head_heigth + 1);
109 |
110 | cylinder(r = head_diameter / 2 - tooth_height + 0.03 + clear, h = head_heigth);
111 |
112 | for (i = [0 : tooth_count]) {
113 | rotate([0, 0, i * (360 / tooth_count)]) {
114 | translate([0, head_diameter / 2 - tooth_height + clear, 0]) {
115 | servo_head_tooth(tooth_length, tooth_width, tooth_height, head_heigth);
116 | }
117 | }
118 | }
119 | }
120 |
121 | /**
122 | * Servo hold
123 | * - Head / Tooth parameters
124 | * - Arms params (length and count)
125 | */
126 | module servo_arm(params, arms) {
127 |
128 | head = params[0];
129 | tooth = params[1];
130 |
131 | head_diameter = head[0];
132 | head_heigth = head[1];
133 | head_thickness = head[2];
134 | head_screw_diameter = head[3];
135 |
136 | tooth_length = tooth[2];
137 | tooth_width = tooth[3];
138 |
139 | arm_length = arms[0];
140 | arm_count = arms[1];
141 |
142 | /**
143 | * Servo arm
144 | * - length is from center to last hole
145 | */
146 | module arm(tooth_length, tooth_width, head_height, head_heigth, hole_count = 1) {
147 |
148 | arm_screw_diameter = 2;
149 |
150 | difference() {
151 | union() {
152 | cylinder(r = tooth_width / 2, h = head_heigth);
153 |
154 | linear_extrude(height = head_heigth) {
155 | polygon([
156 | [-tooth_width / 2, 0], [-tooth_width / 3, tooth_length],
157 | [tooth_width / 3, tooth_length], [tooth_width / 2, 0]
158 | ]);
159 | }
160 |
161 | translate([0, tooth_length, 0]) {
162 | cylinder(r = tooth_width / 3, h = head_heigth);
163 | }
164 |
165 | if (tooth_length >= 12) {
166 | translate([-head_heigth / 2 + 2, 3.8, -4]) {
167 | rotate([90, 0, 0]) {
168 | rotate([0, -90, 0]) {
169 | linear_extrude(height = head_heigth) {
170 | polygon([
171 | [-tooth_length / 1.7, 4], [0, 4], [0, - head_height + 5],
172 | [-2, - head_height + 5]
173 | ]);
174 | }
175 | }
176 | }
177 | }
178 | }
179 | }
180 |
181 | // Hole
182 | for (i = [0 : hole_count - 1]) {
183 | //translate([0, length - (length / hole_count * i), -1]) {
184 | translate([0, tooth_length - (4 * i), -1]) {
185 | cylinder(r = arm_screw_diameter / 2, h = 10);
186 | }
187 | }
188 |
189 | cylinder(r = head_screw_diameter / 2, h = 10);
190 | }
191 | }
192 |
193 | difference() {
194 | translate([0, 0, 0.1]) {
195 | cylinder(r = head_diameter / 2 + head_thickness, h = head_heigth + 1);
196 | }
197 |
198 | cylinder(r = head_screw_diameter / 2, h = 10);
199 |
200 | servo_head(params);
201 | }
202 |
203 | arm_thickness = head_thickness;
204 |
205 | // Arm
206 | translate([0, 0, head_heigth]) {
207 | for (i = [0 : arm_count - 1]) {
208 | rotate([0, 0, i * (360 / arm_count)]) {
209 | arm(arm_length, head_diameter + arm_thickness * 2, head_heigth, 2);
210 | }
211 | }
212 | }
213 | }
214 |
215 | module wheelhub() {
216 | translate([0,0,1])
217 | difference() {
218 | union() {
219 | hull() {
220 | cube([10.1,10.1,1],center=true);
221 | translate([0,0,6]) {
222 | cube([9.8,9.8,1],center=true);
223 | }
224 | }
225 | cylinder(d=18,h=2,center=true);
226 | }
227 | translate([0,0,-10]) cylinder(d=3,h=20);
228 | translate([0,0,-1.1]) cylinder(d=4,h=1);
229 | translate([0,0,3]) servo_head(FUTABA_3F_SPLINE);
230 | }
231 | }
232 |
233 | wheelhub();
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