burn burn burn

schpin_koke/src/Main.hs

@@ -19,7 +19,7 @@ kokeTipPos = V3 (100 *~ mm) (0 *~ mm) (0 *~ mm)
 femurOffset :: ConfType -> Pose
 femurOffset conf_type =
   Pose
-      ( V3 (if conf_type == Expanded then 100 *~ mm else 60 *~ mm)
+      ( V3 (if conf_type == Expanded then 100 *~ mm else 65 *~ mm)
            (0 *~ mm)
            (0 *~ mm)
       )
@@ -91,9 +91,13 @@ leg leg_pos conf_type = Leg
                        FL -> 45 *~ degree
                        RR -> 45 *~ degree
                        RL -> (-45) *~ degree
-                     else 0 *~ radian
+                     else case leg_pos of
+                       FR -> 0 *~ radian
+                       FL -> 0 *~ radian
+                       RR -> 0 *~ radian
+                       RL -> 0 *~ radian
                    , max_angle     = (3 * pi / 8) *~ radian
-                   , vel_lim       = 50 *~ (radian D./ second)
+                   , vel_lim       = 0.5 *~ (radian D./ second)
                    , effor_lim     = 100
                    , g_steps       = 8
                    }
@@ -129,7 +133,7 @@ leg leg_pos conf_type = Leg
                      then (pi * 0.95) *~ radian
                      else (-pi / 12) *~ radian
                    , max_angle     = (3 * pi / 8) *~ radian
-                   , vel_lim       = 50 *~ (radian D./ second)
+                   , vel_lim       = 0.5 *~ (radian D./ second)
                    , effor_lim     = 100
                    , g_steps       = 8
                    }
@@ -161,7 +165,7 @@ leg leg_pos conf_type = Leg
                      then (-pi * 1.45) *~ radian
                      else (-pi / 12) *~ radian
                    , max_angle     = (3 * pi / 8) *~ radian
-                   , vel_lim       = 50 *~ (radian D./ second)
+                   , vel_lim       = 0.5 *~ (radian D./ second)
                    , effor_lim     = 100
                    , g_steps       = 8
                    }

schpin_koke/src/scad/LX15D.scad

@@ -40,9 +40,10 @@ module LX15D() finalize("gray") difference() {
         LX15D_horn_screw_pos() translate([ 0, 0, i * LX15D_horn_w / 2 ])
             cylinder(d = LX15D_horn_screw_d, h = 10, center = true);
     }
-    for (m = [ 0, 1 ])
-        mirror([ 0, 0, m ]) LX15D_bottom_screw_pos()
-            cylinder(d = LX15D_body_screw_d, h = 4, center = true);
+    for (m = [ 0, 1 ]) mirror([ 0, 0, m ]) for (i = [ -1, 1 ], j = [ -1, 1 ]) {
+            LX15D_body_screw_pos(i, j)
+                cylinder(d = LX15D_body_screw_d, h = 4, center = true);
+        }
 }
 
 module LX15D_collision() {
@@ -61,13 +62,16 @@ module LX15D_clearance() {
 
 module LX15D_screw_plane() { translate([ 0, 0, LX15D_dim[2] / 2 ]) children(); }
 
-module LX15D_bottom_screw_pos()
+module LX15D_body_screw_pos(i, j)
     translate([ LX15D_dim[0] / 2 - LX15D_axis_offset, 0, 0 ]) {
-    for (y = [ -0.5, 0.5 ])
-        translate([ LX15D_screw_x / 2, y * LX15D_screw_y, LX15D_dim[2] / 2 ])
-            children();
+    translate(
+        [ i * LX15D_screw_x / 2, j * LX15D_screw_y / 2, LX15D_dim[2] / 2 ])
+        children();
 }
 
+module LX15D_bottom_screw_pos() for (j = [ -1, 1 ]) LX15D_body_screw_pos(1, j)
+    children();
+
 module LX15D_horn_screw_pos() {
     for (a = [0:90:360])
         rotate([ 0, 0, a ]) translate([ 14 / 2, 0, 0 ]) children();
@@ -89,145 +93,3 @@ module LX15D_side_plate(screw_d, holes, t) difference() {
     LX15D_bottom_screw_pos()
         cylinder(d = LX15D_body_screw_d, h = 100, center = true);
 }
-LX15D_U_h = 6;
-LX15D_U_c = 0.2;
-LX15D_U_offset = [ 40, 0, 0 ];
-LX15D_U_screw_y = 16;
-module LX15D_U_body(class) difference() {
-    t = 2;
-    translate([ -LX15D_U_h / 2, 0, 0 ])
-        cube([ LX15D_U_h, Ta(T24), LX15D_dim[2] ], center = true);
-
-    rotate([ 0, -90, 0 ]) tile_neg(T24, LX15D_U_h, centered_hole = true);
-    rotate([ 0, 90, 0 ])
-        cylinder(d = Ta(T24) / 2, h = 100, center = true, $fn = 8);
-
-    for (i = [ -0.5, 0.5 ], m = [ 0, 1 ])
-        mirror([ 0, 0, m ]) translate(
-            [ -LX15D_U_h / 2, i * LX15D_U_screw_y, -LX15D_dim[2] / 2 - t ]) {
-            Mscrew_hole(M2L8C);
-            translate([ 0, 0, 2 * t ]) Mnut_sidehole(M2N, l = 10);
-        }
-}
-module LX15D_U_plate(class) difference() {
-    t = 2;
-    union() {
-        translate(LX15D_U_offset -
-                  [ LX15D_U_h / 2, 0, LX15D_dim[2] / 2 + t / 2 ])
-            cube([ LX15D_U_h, Ta(T24), t ], center = true);
-        mirror([ 0, 0, 1 ]) LX15D_bottom_screw_pos()
-            hull() for (x = [ 0, LX15D_U_h / 2 ]) translate([ x, 0, 0 ])
-                cylinder(d = LX15D_screw_clearance_d, h = t);
-    }
-    translate(LX15D_U_offset - [ LX15D_U_h / 2, 0, LX15D_dim[2] / 2 + t ]) {
-        for (i = [ -0.5, 0.5 ])
-            translate([ 0, i * LX15D_U_screw_y, 0 ]) Mscrew_hole(M2L8C);
-    }
-    LX15D_bottom_screw_pos()
-        cylinder(d = LX15D_body_screw_d, h = 100, center = true);
-}
-module LX15D_U(class, expand = 0) union() {
-    t = 2;
-    translate(LX15D_U_offset) finalize("blue") LX15D_U_body(class);
-
-    for (m = [ 0, 1 ]) mirror([ 0, 0, m ]) {
-            translate([ 0, 0, -expand ]) finalize("yellow")
-                LX15D_U_plate(class);
-
-            translate(LX15D_U_offset) for (i = [ -0.5, 0.5 ]) translate([
-                -LX15D_U_h / 2, i * LX15D_U_screw_y, -LX15D_dim[2] / 2 - t - 2 *
-                expand
-            ]) Mscrew(M2L8C);
-
-            LX15D_bottom_screw_pos() translate([ 0, 0, 3 * expand + t ])
-                rotate([ 180, 0, 0 ]) Mscrew(M2L8C);
-
-            for (i = [ -0.5, 0.5 ])
-                translate(LX15D_U_offset + [
-                    expand - LX15D_U_h / 2, i * LX15D_U_screw_y,
-                    -LX15D_dim[2] / 2 +
-                    t
-                ]) Mnut(M2N);
-        }
-}
-
-LX15D_BU_h = 6;
-LX15D_BU_t = 3;
-LX15D_BU_screw_a = 10;
-LX15D_BU_offset = [ -25, 0, 0 ];
-module LX15D_BU_plate() difference() {
-    t = LX15D_BU_t;
-    h = 5;
-    horn_a = LX15D_horn_screw_d + t;
-    bu_screw_a = Md(M2L8C) + t;
-    translate([ 0, 0, h / 2 ]) hull() {
-        LX15D_horn_screw_pos() cube([ horn_a, horn_a, h ], center = true);
-        for (i = [ -0.5, 0.5 ])
-            translate(LX15D_BU_offset +
-                      [ LX15D_BU_h / 2, i * LX15D_BU_screw_a, 0 ])
-                cube([ bu_screw_a, bu_screw_a, h ], center = true);
-    }
-    cylinder(d = LX15D_horn_clearance_d, h = 100, center = true, $fn = 8);
-    LX15D_horn_screw_pos() Mscrew_hole(M3L8C);
-    for (i = [ -0.5, 0.5 ])
-        translate(LX15D_BU_offset + [ LX15D_BU_h / 2, i * LX15D_BU_screw_a, t ])
-            rotate([ 180, 0, 0 ]) Mscrew_hole(M2L8C);
-}
-module LX15D_BU_body() translate(LX15D_BU_offset + [ LX15D_BU_h / 2, 0, 0 ])
-    difference() {
-    t = LX15D_BU_t;
-    dim = [ LX15D_BU_h, LX15D_BU_screw_a + t * 2, LX15D_horn_w ];
-    union() {
-        rotate([ 0, 90, 0 ]) tile_pos(T24, LX15D_BU_h, center = true);
-        cube(dim, center = true);
-    }
-    rotate([ 0, 90, 0 ])
-        tile_neg(T24, LX15D_BU_h, center = true);
-
-    for (j = [ -1, 1 ], i = [ -0.5, 0.5 ])
-        translate([ 0, i * LX15D_BU_screw_a, j * dim[2] / 2 ])
-            rotate([ j * 90 + 90, 0, 0 ]) {
-            Mscrew_hole(M2L8C);
-            translate([ 0, 0, t ]) Mnut_sidehole(M2N, l = 10);
-        }
-}
-
-module LX15D_BU(expand = 0) {
-    t = 3;
-    plate_h = 5;
-    finalize("yellow") LX15D_BU_body();
-    for (m = [ 0, 1 ])
-        mirror([ 0, 0, m ]) translate([ 0, 0, LX15D_horn_w / 2 + expand ]) {
-            finalize("blue") LX15D_BU_plate();
-
-            for (i = [ -0.5, 0.5 ])
-                translate(LX15D_BU_offset +
-                          [ LX15D_BU_h / 2, i * LX15D_BU_screw_a, t + expand ])
-                    rotate([ 180, 0, 0 ]) Mscrew(M2L8C);
-
-            LX15D_horn_screw_pos() translate([ 0, 0, plate_h + expand ])
-                rotate([ 180, 0, 0 ]) Mscrew(M3L8C);
-        }
-    for (j = [ -1, 1 ], i = [ -0.5, 0.5 ])
-        translate(LX15D_BU_offset + [
-            LX15D_BU_h / 2 + expand, i * LX15D_BU_screw_a, j * LX15D_horn_w / 2
-        ]) rotate([ j * 90 + 90, 0, 0 ]) {
-            translate([ 0, 0, t ]) Mnut(M2N, l = 10);
-        }
-}
-
-render_part = "nothing";
-
-if (render_part == "LX15D_BU_plate") {
-    $fn = 128;
-    LX15D_BU_plate();
-} else if (render_part == "LX15D_BU_body") {
-    $fn = 128;
-    LX15D_BU_body();
-} else if (render_part == "LX15D_U_plate") {
-    $fn = 128;
-    LX15D_U_plate();
-} else if (render_part == "LX15D_U_body") {
-    $fn = 128;
-    LX15D_U_body();
-}

schpin_koke/src/scad/LX15D/cables.scad

+include<../LX15D.scad>;
+
+module cable_harness(w, s, r, l) render() difference() {
+    y = w / 2 - s / 2 - r;
+    hull() for (i = [ -1, 1 ]) translate([ 0, i * y, 0 ]) rotate([ 0, 90, 0 ])
+        cylinder(d = s + r * 2, h = l + 2, center = true);
+    minkowski() {
+        difference() {
+            hull() for (i = [ -1, 1 ]) translate([ 0, i * y, 0 ])
+                rotate([ 0, 90, 0 ])
+                    cylinder(d = s + r * 2 + 0.1, h = l - r * 2, center = true);
+            hull() for (i = [ -1, 1 ]) translate([ 0, i * y, 0 ])
+                rotate([ 0, 90, 0 ])
+                    cylinder(d = s + r * 2, h = l + 1, center = true);
+        }
+        sphere(r = r);
+    }
+}
+
+module LX15D_cable_holder_B(z_offset, expand) {
+    w = LX15D_dim[1];
+    t = 2;
+    h = 8;
+    off = [ 30, 0, LX15D_dim[2] / 2 + z_offset ];
+    screw_off = off + [ -2, 0, 0 ];
+    screw_d = Md(M2L8C);
+    screw_y_offset = w / 2 - screw_d / 2 - t;
+
+    LX15D_cable_holder_B_screw_pos(screw_off, y_offset = screw_y_offset) {
+        translate([ 0, 0, h - Mhead_h(M2L8C) ]) rotate([ 180, 0, 0 ])
+            Mscrew_hole(M2L8C);
+        translate([ 0, 0, -0.01 ]) Mnut(M2N);
+    }
+
+    finalize("deeppink") LX15D_cable_holder_B_body(
+        part_i = 0, z_offset = z_offset, h = h, w = w, t = t, off = off,
+        screw_off = screw_off, screw_d = screw_d,
+        screw_y_offset = screw_y_offset);
+    finalize("cyan") LX15D_cable_holder_B_body(
+        part_i = 1, z_offset = z_offset, h = h, w = w, t = t, off = off,
+        screw_off = screw_off, screw_d = screw_d,
+        screw_y_offset = screw_y_offset);
+}
+
+module LX15D_cable_holder_B_screw_pos(off, y_offset) {
+    for (i = [ -1, 1 ]) translate(off + [ 0, i * y_offset, 0 ]) children();
+}
+
+module LX15D_cable_holder_B_body(part_i, z_offset, h, w, t, off, screw_off,
+                                 screw_d, screw_y_offset) difference() {
+    s = 3;
+    r = 2;
+    l = 10;
+    harness_h = s + r * 2;
+
+    translate(off + [ 0, 0, h / 2 ]) cube([ l, w, h ], center = true);
+    for (i = [ -1, 1 ])
+        LX15D_body_screw_pos(1, i) translate([ 0, 0, z_offset + t ])
+            rotate([ 180, 0, 0 ]) Mscrew_hole(M2L8C, hole_offset = 100);
+    LX15D_cable_holder_B_screw_pos(screw_off, y_offset = screw_y_offset) {
+        translate([ 0, 0, h - Mhead_h(M2L8C) ]) rotate([ 180, 0, 0 ])
+            Mscrew_hole(M2L8C);
+        translate([ 0, 0, -0.01 ]) Mnut(M2N);
+    }
+    if (part_i == 0) {
+        translate(off + [ 0, 0, 50 + harness_h / 2 ]) cube(100, center = true);
+    }
+    if (part_i == 1) {
+        translate(off - [ 0, 0, 50 - harness_h / 2 ]) cube(100, center = true);
+    }
+    for (z = [ harness_h / 2, h ])
+        translate(off + [ 0, 0, z ])
+            cable_harness(w - screw_d - t * 2, s, r, l);
+}
+
+module LX15D_cable_holder_A_screw_pos(off, screw_z) for (i = [ -1, 1 ])
+    translate(off + [ 2, 0, i* screw_z ]) children();
+
+module LX15D_cable_holder_A(expand) {
+    l = 10;
+    t = 2;
+    h = 7;
+    w = LX15D_dim[2] + t * 2;
+    off = [ -LX15D_axis_offset + l / 2, LX15D_dim[1] / 2, 0 ];
+    screw_z = w / 2 - t - Md(M2L8C) / 2;
+
+    LX15D_cable_holder_A_screw_pos(off, screw_z) {
+        translate([ 0, h + 3 * expand, 0 ]) rotate([ 90, 0, 0 ]) Mscrew(M2L8C);
+
+        translate([ 0, h, 0 ]) rotate([ 90, 0, 0 ]) Mnut(M2N);
+    }
+
+    translate([ 0, expand, 0 ]) finalize("cyan") LX15D_cable_holder_A_body(
+        part_i = 0, l = l, w = w, t = t, h = h, off = off, screw_z = screw_z);
+    translate([ 0, 2 * expand, 0 ]) finalize("deeppink")
+        LX15D_cable_holder_A_body(part_i = 1, l = l, t = t, w = w, h = h,
+                                  off = off, screw_z = screw_z);
+    for (m = [ 0, 1 ])
+        mirror([ 0, 0, m ]) LX15D_body_screw_pos(-1, 1)
+            translate([ 0, 0, t + expand ]) rotate([ 180, 0, 0 ]) Mscrew(M2L8C);
+}
+
+module LX15D_cable_holder_A_body(part_i, l, t, w, h, off, screw_z)
+    difference() {
+    s = 3;
+    r = 2;
+    k = 0.1;
+
+    union() {
+        translate(off + [ 0, h / 2, 0 ]) cube([ l, h, w ], center = true);
+        for (m = [ 0, 1 ])
+            mirror([ 0, 0, m ]) LX15D_body_screw_pos(-1, 1)
+                cylinder(d = LX15D_screw_clearance_d, h = t);
+    }
+    if (part_i == 0) {
+        translate(off + [ 0, 50 + h / 2, 0 ]) cube(100, center = true);
+    }
+    if (part_i == 1) {
+        translate(off - [ 0, 50 - h / 2, 0 ]) cube(100, center = true);
+    }
+    LX15D_body_screw_pos(-1, 1)
+        cylinder(d = LX15D_body_screw_d, h = 100, center = true);
+
+    LX15D_cable_holder_A_screw_pos(off, screw_z) {
+        translate([ 0, h, 0 ]) rotate([ 90, 0, 0 ]) Mscrew_hole(M2L8C);
+
+        translate([ 0, -0.1, 0 ]) rotate([ -90, 0, 0 ]) Mnut(M2N);
+    }
+
+    translate(off + [ 0, s / 2 + r, 0 ]) rotate([ 90, 0, 0 ])
+        cable_harness(w - Md(M2L8C) * 2 - t * 2, s, r, l);
+}
+
+module LX15D_cable_holder_C(expand) {
+    t = 2;
+    s = 2;
+    w = LX15D_dim[2] + t * 2;
+    harness_w = w - t * 2 - Md(M2L8C);
+    finalize("deeppink")
+        LX15D_cable_holder_C_lock(t = t, s = s, w = w, harness_w = harness_w);
+    finalize("cyan")
+        LX15D_cable_holder_C_body(t = t, s = s, w = w, harness_w = harness_w);
+}
+module LX15D_cable_holder_C_screw_pos(t) {
+    for (i = [ -1, 1 ], j = [ -1, 1 ])
+        translate([
+            -LX15D_axis_offset,  //
+            i * (LX15D_dim[1] - t * 2 - Md(M2L8C)) / 2,
+            j * (LX15D_dim[2] - t * 2 - Md(M2L8C)) / 2
+        ]) rotate([ 0, 90, 0 ]) children();
+}
+module LX15D_cable_holder_C_lock(t, s, w, harness_w) difference() {
+    h = s + t * 2;
+    l = Md(M2L8C) + t * 2;
+    translate([ -LX15D_axis_offset, LX15D_dim[1] / 2 - t - Md(M2L8C) / 2, 0 ])
+        difference() {
+        translate([ -h / 2 - s / 2 - t, 0, 0 ])
+            cube([ h, l, w ], center = true);
+        for (x = [ 0, -s - t * 2 ])
+            translate([ x - s / 2 - t, 0, 0 ]) rotate([ 90, 0, 90 ])
+                cable_harness(w = harness_w - t * 2, s = s, r = t, l = l);
+    }
+    LX15D_cable_holder_C_screw_pos(t = t) translate([ 0, 0, -Ml(M2L8C) ])
+        Mscrew_hole(M2L8C);
+}
+module LX15D_cable_holder_C_body(t, s, w, harness_w) difference() {
+    l = LX15D_dim[1];
+    h = s / 2 + t;
+    union() {
+        translate([ -h / 2 - LX15D_axis_offset, 0, 0 ])
+            cube([ h, l, w ], center = true);
+        for (m = [ 0, 1 ], i = [ -1, 1 ])
+            mirror([ 0, 0, m ]) LX15D_body_screw_pos(-1, i)
+                cylinder(d = LX15D_screw_clearance_d, h = t);
+    }
+    LX15D_cable_holder_C_screw_pos(t = t) {
+        translate([ 0, 0, -Ml(M2L8C) ]) Mscrew_hole(M2L8C);
+        translate([0, 0, 0.001])
+        rotate([ 0, 180, 0 ]) Mnut(M2N);
+    }
+    translate([ -LX15D_axis_offset - s / 2 - t, 0, 0 ]) rotate([ 90, 0, 90 ])
+        cable_harness(w = harness_w - t * 2, s = s, r = t, l = l);
+    for (m = [ 0, 1 ], i = [ -1, 1 ])
+        mirror([ 0, 0, m ]) LX15D_body_screw_pos(-1, i)
+            cylinder(d = LX15D_body_screw_d, h = 100, center = true);
+}

schpin_koke/src/scad/LX15D/tiles.scad

+include<../LX15D.scad>;
+
+LX15D_U_h = 6;
+LX15D_U_c = 0.2;
+LX15D_U_offset = [ 40, 0, 0 ];
+LX15D_U_screw_y = 16;
+module LX15D_U_body(class) difference() {
+    t = 2;
+    translate([ -LX15D_U_h / 2, 0, 0 ])
+        cube([ LX15D_U_h, Ta(T24), LX15D_dim[2] ], center = true);
+
+    rotate([ 0, -90, 0 ]) tile_neg(T24, LX15D_U_h, centered_hole = true);
+    rotate([ 0, 90, 0 ])
+        cylinder(d = Ta(T24) / 2, h = 100, center = true, $fn = 8);
+
+    for (i = [ -0.5, 0.5 ], m = [ 0, 1 ])
+        mirror([ 0, 0, m ]) translate(
+            [ -LX15D_U_h / 2, i * LX15D_U_screw_y, -LX15D_dim[2] / 2 - t ]) {
+            Mscrew_hole(M2L8C);
+            translate([ 0, 0, 2 * t ]) Mnut_sidehole(M2N, l = 10);
+        }
+}
+module LX15D_U_plate(class, t = 2) difference() {
+    union() {
+        translate(LX15D_U_offset -
+                  [ LX15D_U_h / 2, 0, LX15D_dim[2] / 2 + t / 2 ])
+            cube([ LX15D_U_h, Ta(T24), t ], center = true);
+        mirror([ 0, 0, 1 ]) LX15D_bottom_screw_pos()
+            hull() for (x = [ 0, LX15D_U_h / 2 ]) translate([ x, 0, 0 ])
+                cylinder(d = LX15D_screw_clearance_d, h = t);
+    }
+    translate(LX15D_U_offset - [ LX15D_U_h / 2, 0, LX15D_dim[2] / 2 + t ]) {
+        for (i = [ -0.5, 0.5 ])
+            translate([ 0, i * LX15D_U_screw_y, 0 ]) Mscrew_hole(M2L8C);
+    }
+    LX15D_bottom_screw_pos()
+        cylinder(d = LX15D_body_screw_d, h = 100, center = true);
+}
+module LX15D_U_plate_cable(class, t, s) difference() {
+    LX15D_U_plate(class, t = t + s / 2);
+    translate(LX15D_U_offset -
+              [ LX15D_U_h / 2, 0, LX15D_dim[2] / 2 + t + s / 2 ])
+        cable_harness(w = LX15D_U_screw_y, s = s, r = t, l = LX15D_U_h);
+}
+module LX15D_U_plate_cable_lock(class, t, s) difference() {
+    hull() translate(LX15D_U_offset -
+                     [ LX15D_U_h / 2, 0, LX15D_dim[2] / 2 + t + s/2 ]) {
+        for (i = [ -0.5, 0.5 ])
+            translate([ 0, i * LX15D_U_screw_y, 0 ]) rotate([180, 0, 0])
+                cylinder(d = LX15D_U_h, h = t + s);
+    }
+    translate(LX15D_U_offset -
+              [ LX15D_U_h / 2, 0, LX15D_dim[2] / 2 + 2 * t + s ]) {
+        for (i = [ -0.5, 0.5 ])
+            translate([ 0, i * LX15D_U_screw_y, 0 ]) Mscrew_hole(M2L8C);
+    }
+    for (z = [ 0, s + 2 * t ])
+        translate(LX15D_U_offset -
+                  [ LX15D_U_h / 2, 0, LX15D_dim[2] / 2 + t + s / 2 + z ])
+            cable_harness(w = LX15D_U_screw_y, s = s, r = t, l = LX15D_U_h);
+}
+// this is meh, refactor
+module LX15D_U(class, expand = 0) union() {
+    t = 2;
+    cable_s = 2;
+
+    translate(LX15D_U_offset) finalize("blue") LX15D_U_body(class);
+
+    translate([ 0, 0, expand ]) mirror([ 0, 0, 1 ]) finalize("yellow")
+        LX15D_U_plate(class, t = t);
+    translate([ 0, 0, -expand ]) finalize("yellow")
+        LX15D_U_plate_cable(class, t = t, s = cable_s);
+    translate([ 0, 0, -2 * expand ]) finalize("blue")
+        LX15D_U_plate_cable_lock(class, t = t, s = cable_s);
+
+    translate(LX15D_U_offset) for (i = [ -0.5, 0.5 ]) translate([
+        -LX15D_U_h / 2, i * LX15D_U_screw_y,
+        -LX15D_dim[2] / 2 - 2 * t - cable_s - 2 *
+        expand
+    ]) Mscrew(M2L12C);
+
+    translate(LX15D_U_offset) for (i = [ -0.5, 0.5 ]) translate([
+        -LX15D_U_h / 2, i * LX15D_U_screw_y, LX15D_dim[2] / 2 + t + 2 * expand
+    ]) rotate([ 180, 0, 0 ]) Mscrew(M2L8C);
+
+    for (m = [ 0, 1 ]) mirror([ 0, 0, m ]) {
+            LX15D_bottom_screw_pos() translate([ 0, 0, 3 * expand + t ])
+                rotate([ 180, 0, 0 ]) Mscrew(M2L8C);
+
+            for (i = [ -0.5, 0.5 ])
+                translate(LX15D_U_offset + [
+                    expand - LX15D_U_h / 2, i * LX15D_U_screw_y,
+                    -LX15D_dim[2] / 2 +
+                    t
+                ]) Mnut(M2N);
+        }
+}
+
+LX15D_BU_h = 6;
+LX15D_BU_t = 3;
+LX15D_BU_screw_a = 10;
+LX15D_BU_offset = [ -25, 0, 0 ];
+module LX15D_BU_plate() difference() {
+    t = LX15D_BU_t;
+    h = 5;
+    horn_a = LX15D_horn_screw_d + t;
+    bu_screw_a = Md(M2L8C) + t;
+    translate([ 0, 0, h / 2 ]) hull() {
+        LX15D_horn_screw_pos() cube([ horn_a, horn_a, h ], center = true);
+        for (i = [ -0.5, 0.5 ])
+            translate(LX15D_BU_offset +
+                      [ LX15D_BU_h / 2, i * LX15D_BU_screw_a, 0 ])
+                cube([ bu_screw_a, bu_screw_a, h ], center = true);
+    }
+    cylinder(d = LX15D_horn_clearance_d, h = 100, center = true, $fn = 8);
+    LX15D_horn_screw_pos() translate([ 0, 0, t ]) rotate([ 180, 0, 0 ])
+        Mscrew_hole(M3L5C);
+    for (i = [ -0.5, 0.5 ])
+        translate(LX15D_BU_offset + [ LX15D_BU_h / 2, i * LX15D_BU_screw_a, t ])
+            rotate([ 180, 0, 0 ]) Mscrew_hole(M2L8C);
+}
+module LX15D_BU_body() translate(LX15D_BU_offset + [ LX15D_BU_h / 2, 0, 0 ])
+    difference() {
+    t = LX15D_BU_t;
+    dim = [ LX15D_BU_h, LX15D_BU_screw_a + t * 2, LX15D_horn_w ];
+    union() {
+        rotate([ 0, 90, 0 ]) tile_pos(T24, LX15D_BU_h, center = true);
+        cube(dim, center = true);
+    }
+    rotate([ 0, 90, 0 ]) tile_neg(T24, LX15D_BU_h, center = true);
+
+    for (j = [ -1, 1 ], i = [ -0.5, 0.5 ])
+        translate([ 0, i * LX15D_BU_screw_a, j * dim[2] / 2 ])
+            rotate([ j * 90 + 90, 0, 0 ]) {
+            Mscrew_hole(M2L8C);
+            translate([ 0, 0, t ]) Mnut_sidehole(M2N, l = 10);
+        }
+}
+
+module LX15D_BU(expand = 0) {
+    t = LX15D_BU_t;
+    plate_h = 5;
+    finalize("yellow") LX15D_BU_body();
+    for (m = [ 0, 1 ])
+        mirror([ 0, 0, m ]) translate([ 0, 0, LX15D_horn_w / 2 + expand ]) {
+            finalize("blue") LX15D_BU_plate();
+
+            for (i = [ -0.5, 0.5 ])
+                translate(LX15D_BU_offset +
+                          [ LX15D_BU_h / 2, i * LX15D_BU_screw_a, t + expand ])
+                    rotate([ 180, 0, 0 ]) Mscrew(M2L8C);
+
+            LX15D_horn_screw_pos() translate([ 0, 0, plate_h + expand - t ])
+                rotate([ 180, 0, 0 ]) Mscrew(M3L5C);
+        }
+    for (j = [ -1, 1 ], i = [ -0.5, 0.5 ])
+        translate(LX15D_BU_offset + [
+            LX15D_BU_h / 2 + expand, i * LX15D_BU_screw_a, j * LX15D_horn_w / 2
+        ]) rotate([ j * 90 + 90, 0, 0 ]) {
+            translate([ 0, 0, t ]) Mnut(M2N);
+        }
+}

schpin_koke/src/scad/bat.scad

@@ -81,4 +81,4 @@ module bat_set() union() {
             bat(center = true);
 }
 
-//bat_set();
+bat_set();

schpin_koke/src/scad/body.scad

+include<LX15D/tiles.scad>;
+include<LX15D/cables.scad>;
 include<camera.scad>;
 include<metric.scad>;
 include<util.scad>;
@@ -80,13 +82,14 @@ module bottom_xplate() {
 }
 
 module body(positions, expand = 0) {
-    $fn = 32;
     for (m = [ 0, 1 ])
         mirror([ m, 0, 0 ]) translate([ Ta(T24) * 2, 0, 0 ]) rotate([ 0, 0, 0 ])
             bat_set();
 
     for (pos = positions)
         translate(pos) rotate([ 0, 0, pos[0] > 0 ? 180 : 0 ]) {
+            rotate([ 180, 0, 0 ])
+                LX15D_cable_holder_B(z_offset = 2, expand = expand);
             translate([ -4 * expand, 0, 0 ]) LX15D();
             translate([ -2 * expand, 0, 0 ]) LX15D_U(expand = expand);
         }
@@ -100,17 +103,6 @@ module body(positions, expand = 0) {
         -2.5 * Ta(T24), 0, xplate_h + xplate_tile_h + D415_dim[2] / 2 + 30
     ]) {
         D415();
-        D415_fov();
+        //        D415_fov();
     }
 }
-
-// top_xplate();
-$fs=0.5;
-$fa=0.5;
-bottom_xplate();
-//body(positions =
-//         [
-//             [ 45.0, -36.0, 0.0 ], [ -45.0, -36.0, 0.0 ], [ 45.0, 36.0, 0.0 ],
-//             [ -45.0, 36.0, 0.0 ]
-//         ],
-//     expand = 0);

schpin_koke/src/scad/coxa.scad

+include<LX15D/tiles.scad>;
+include<LX15D/cables.scad>;
 include<LX15D.scad>;
+
 module coxa_collision(femurOffset) {
     translate([ 5, 0, 0 ]) cube([ 40, 30, 50 ], center = true);
 
@@ -7,7 +10,6 @@ module coxa_collision(femurOffset) {
 }
 
 module coxa(femurOffset, expand = 0) {
-    //    color("red") coxa_holder(femurOffset);
 
     translate(femurOffset) rotate([ 90, 0, 180 ]) {