mahd/implementation/SCARA/hardware/openSCAD/carriage.scad

use <stepper.scad>
use <arm.scad>
use <marker.scad>
use <electronics.scad>
//module arm(holes, width, thinkness, bore){


arm1 = 70;
arm2 = 55;
x = 55; //[15:85]
y = 70; //[35:85]
length = sqrt(pow(x,2) + pow(y,2));
arm1_sq = pow(arm1,2);
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;
stepper_spaceing = 45;
stepper_offset = 55;
arm_thickness = 3;
arm_width = 10;
arm_offset = 15;

%translate([stepper_offset,0,0]) {
    // stepper on joint C
  rotate([0,90,0]) stepper_103H5205();
   // stepper on joint A
  translate([0,stepper_spaceing,0]) rotate([0,90,0]) stepper_103H5205();

  translate([arm_offset,0,0]){
    
    translate([0,stepper_spaceing,0]) rotate([angle1,0,0]) rotate([0,-90,0]) arm([0,-25],arm_width,arm_thickness,5);
    //arm1
    rotate([angle1,0,0]) rotate([0,-90,0]) arm([0,-25,arm1],arm_width,arm_thickness,5);

    //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,5);
    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,5);

    //arm3
    rotate([angle2,0,0]){
      translate([3,0,0]) rotate([90,0,-90]) arm([0,25],arm_width,arm_thickness,5);
      translate([-3,0,0]) rotate([90,0,-90]) 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,5);
        translate([0,0,arm1]) rotate([angle2-angle1,0,0]) {
          translate([3,0,0]) rotate([90, 0, 90]) arm([25,0,arm2+25],arm_width,arm_thickness,5);
          translate([-3,0,0]) rotate([90, 0, 90]) arm([25,0,arm2+25],arm_width,arm_thickness,5);
          translate([-stepper_offset-arm_offset,arm2+25]) rotate([0,90,0]) marker(0);
        }
      }
    }
  }
}

// electronics
translate([20,80,-10]) rotate([-0,-90,0]){
color("olive") translate([-12,-2,5]) cube([40,61,1]);
stepper_controller();
translate([0,25.4,0]) stepper_controller();
}

//carriage
translate([stepper_offset,0,0])
  rotate([0,90,0]) {
    stepper_103H5205_mount();
    translate([0,stepper_spaceing,0]) stepper_103H5205_mount();
  }