Add homing-switches to carriage

implementation/SCARA/hardware/openSCAD/carriage.scad

@@ -3,6 +3,7 @@ use <arm.scad>
 use <marker.scad>
 use <electronics.scad>
 use <sg90.scad>
+use <switch.scad>
 //module arm(holes, width, thinkness, bore){
 
 
@@ -16,13 +17,17 @@ arm2_sq = pow(arm2,2);
 length_sq = pow(length,2);
 b = acos((arm1_sq + length_sq - arm2_sq)/(2 * arm1 * length));
 c = acos((arm1_sq - length_sq + arm2_sq)/(2 * arm1 * arm2));
-angle1 = b + atan2(y,x) - 90;
-angle2 = angle1 - 90 + c;
+angle1_2_offset = 0; //[-90:0:90]
+angle2_offset = 0; //[-90:0:180]
+angle1 = angle1_2_offset + b + atan2(y,x) - 90;
+angle2 = angle2_offset + angle1 - 90 + c;
 stepper_spaceing = 47;
 stepper_offset = 55;
+washer_thinkness = 0.6;
 arm_thickness = 3;
 arm_width = 10;
 arm_offset = 15;
+arm_spacing = arm_thickness+washer_thinkness;
 
 bus_diameter = 3 + arm_width;
 shaft_bore = 5.3;
@@ -46,6 +51,21 @@ module arm3 (){
   }
 }
 
+module arm3b(){
+  difference(){
+    union(){
+      arm3();
+      translate([6,0,arm_thickness])hull(){
+      cylinder(h=arm_thickness*2,d=arm_width/2,center=true);
+      translate([12,0,0]) cylinder(h=arm_thickness*2,d=arm_width/2,center=true);
+      }
+
+    }
+    cylinder(d=shaft_bore,h=16,center=true);
+  }
+}
+
+
 module arm0 (){
   difference(){
     union(){
@@ -67,7 +87,8 @@ module arm5b(){
   arm5a();
   difference(){
     translate([-arm_thickness/2-2.5,35,-14]) rotate([0,0,180]) {sg90_bracket();
-     sg90(-90);
+     sg90();
+     sg90_arm(21,135);
     }
     translate([0,25,0]) rotate([0,90,0]) cylinder(d=7,h=10,center=true);
   }
@@ -152,13 +173,13 @@ translate([stepper_offset,0,0]) {
       }
 
     //arm2
-    translate([3,0,0]) rotate([angle1,0,0]) translate([0,0,-25]) rotate([-angle1,0,0]) rotate([90,0,90]) arm([0,stepper_spaceing],arm_width,arm_thickness,joint_bore);
-    translate([-3,0,0]) rotate([angle1,0,0]) translate([0,0,-25]) rotate([-angle1,0,0]) rotate([90,0,90]) arm([0,stepper_spaceing],arm_width,arm_thickness,joint_bore);
+    translate([arm_spacing,0,0]) rotate([angle1,0,0]) translate([0,0,-25]) rotate([-angle1,0,0]) rotate([90,0,90]) arm([0,stepper_spaceing],arm_width,arm_thickness,joint_bore);
+    translate([-arm_spacing,0,0]) rotate([angle1,0,0]) translate([0,0,-25]) rotate([-angle1,0,0]) rotate([90,0,90]) arm([0,stepper_spaceing],arm_width,arm_thickness,joint_bore);
 
     //arm3
     rotate([angle2,0,0]){
-      translate([3,0,0]) rotate([-90,0,-90]) arm3(); //([0,25],arm_width,arm_thickness,5);
-      translate([-3,0,0]) rotate([90,0,-90]) arm3(); //arm([0,25],arm_width,arm_thickness,5);
+      translate([arm_spacing,0,0]) rotate([-90,0,-90]) arm3(); //([0,25],arm_width,arm_thickness,5);
+      translate([-arm_spacing,0,0]) rotate([90,0,-90]) arm3b(); //arm([0,25],arm_width,arm_thickness,5);
       translate([0,-25,0]) rotate([angle1-angle2,0,0]) {
         // arm4
         rotate([0,-90,0]) arm([0,arm1],arm_width,arm_thickness,joint_bore);
@@ -186,9 +207,24 @@ translate([40,0,-60]) rotate([-0,-90,0]){
 
 //carriage
 translate([stepper_offset,0,0]){
+difference(){
+union(){
   rotate([0,90,0]) {
     stepper_103H5205_bracket();
     translate([0,stepper_spaceing,0]) stepper_103H5205_bracket();
+    }
+  translate([9,11,-16]) rotate([90,90,0]) translate([4.5,-4.38,0]) rotate([0,0,180]) cube([10.5,3,5]);
+  }
+  translate([9,11,-16]) rotate([90,90,0]){
+    translate([-4.5,0,2.85]){
+      rotate([90,0,0]) cylinder(d=1.5,h=10);
+      translate([7.65,0,-1.15]) rotate([90,0,0]) cylinder(d=1.4,h=10);
+  }
+  }
   }
   translate([-53,-25.5,-25.5])cube([40,98,4]);
+  translate([17.5,78,-14]) rotate([90,90,0]){
+  switch_mount();
+//  switch();
+  }
 }

implementation/SCARA/hardware/openSCAD/sg90.scad

@@ -1,4 +1,5 @@
 
+$fn = $preview? 32 : 50;
 sg90_length = 22.2;
 sg90_width = 11.8;
 sg90_flange_pos = 15.9;
@@ -7,10 +8,9 @@ sg90_flange_length = 5;
 sg90_flange_hole_pos = 2.7;
 sg90_flange_hole_bore = 2;
 
-module sg90(rot){
+module sg90(){
   translate([0,0,-sg90_flange_pos+7]) {
     color("steelblue") import("SG90_v7.stl");
-    translate([5.9,16.3,32]) rotate([0,180,rot]) import("SG90_arm_v2.stl");
   }
 }
 
@@ -44,5 +44,21 @@ translate([17.8,11.9,4]) rotate([0,0,45]) cube([20,20,10],center=true);
   }*/
 
 
-//sg90(90);
+sg90();
+sg90_arm(21,135);
 sg90_bracket();
+
+module sg90_arm(length, rot){
+  translate([5.9,16.3,19.5]) rotate([0,180,rot]) difference(){
+  union(){
+    translate([0,0,-0.5]) cylinder(d=9,h=3.5,center=true);
+    hull(){
+      cylinder(d=9,h=2.5,center=true);
+      translate([0,-length,0]) cylinder(d=5,h=2.5,center=true);
+    }
+    }
+    cylinder(d=2.8,h=8,center=true);
+    translate([0,0,0.5]) cylinder(d=4.8,h=3.5,center=true);
+    translate([0,-length,0]) cylinder(d=2,h=8,center=true);
+  }
+}

implementation/SCARA/hardware/openSCAD/switch.scad

@@ -0,0 +1,27 @@
+$fn = $preview? 32 : 72;
+
+
+module switch() {
+scale(25.4) import("SPPB2A0101.stl");
+}
+
+
+module switch_mount(){
+  difference(){
+    translate([4.5,-4.38,0]) union() {
+      rotate([0,0,180]) cube([11,3,6]);
+      hull(){
+        translate([0,-3,0])rotate([0,0,180]) cube([11,3,6]);
+        translate([0,-10,6])rotate([0,0,180]) cube([11,3,6]);
+      }
+    }
+    translate([-4.5,0,2.85]){
+      rotate([90,0,0]) cylinder(d=1.5,h=10);
+      translate([7.65,0,-1.15]) rotate([90,0,0]) cylinder(d=1.4,h=10);
+    }
+  }
+}
+
+
+switch();
+switch_mount();