feat: ROS2 launch orchestrator for full SaltyBot bringup (Issue #577) #582
@ -11,38 +11,38 @@
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// coverage zone.
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// coverage zone.
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//
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//
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// Architecture:
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// Architecture:
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// Wall base → flat backplate with 2× screw holes (wall or ceiling)
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// Wall base -> flat backplate with 2x screw holes (wall or ceiling)
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// Tilt knuckle → single-axis articulating joint; 15° detent steps
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// Tilt knuckle -> single-axis articulating joint; 15deg detent steps
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// locked with M3 nyloc bolt; range 0–90°
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// locked with M3 nyloc bolt; range 0-90deg
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// Anchor cradle→ U-cradle holding ESP32 UWB Pro PCB on M2.5 standoffs
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// Anchor cradle-> U-cradle holding ESP32 UWB Pro PCB on M2.5 standoffs
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// USB-C channel→ routed groove on tilt arm + exit slot in cradle back wall
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// USB-C channel-> routed groove on tilt arm + exit slot in cradle back wall
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// Label slot → rear window slot for printed anchor-ID card strip
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// Label slot -> rear window slot for printed anchor-ID card strip
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//
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//
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// Part catalogue:
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// Part catalogue:
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// Part 1 — wall_base() Backplate + 2-ear pivot block + detent arc
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// Part 1 -- wall_base() Backplate + 2-ear pivot block + detent arc
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// Part 2 — tilt_arm() Pivoting arm with knuckle + cradle stub
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// Part 2 -- tilt_arm() Pivoting arm with knuckle + cradle stub
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// Part 3 — anchor_cradle() PCB cradle, standoffs, USB-C slot, label window
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// Part 3 -- anchor_cradle() PCB cradle, standoffs, USB-C slot, label window
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// Part 4 — cable_clip() Snap-on USB-C cable guide for tilt arm
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// Part 4 -- cable_clip() Snap-on USB-C cable guide for tilt arm
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// Part 5 — assembly_preview()
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// Part 5 -- assembly_preview()
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//
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//
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// Hardware BOM:
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// Hardware BOM:
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// 2× M4 × 30 mm wood screws (or #6 drywall screws) wall fasteners
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// 2x M4 x 30mm wood screws (or #6 drywall screws) wall fasteners
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// 1× M3 × 20 mm SHCS + M3 nyloc nut tilt pivot bolt
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// 1x M3 x 20mm SHCS + M3 nyloc nut tilt pivot bolt
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// 4× M2.5 × 8 mm SHCS PCB-to-cradle
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// 4x M2.5 x 8mm SHCS PCB-to-cradle
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// 4× M2.5 hex nuts captured in standoffs
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// 4x M2.5 hex nuts captured in standoffs
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// 1× USB-C cable anchor power
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// 1x USB-C cable anchor power
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//
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//
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// ESP32 UWB Pro interface (verify with calipers):
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// ESP32 UWB Pro interface (verify with calipers):
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// PCB size : UWB_L × UWB_W × UWB_H (55 × 28 × 10 mm default)
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// PCB size : UWB_L x UWB_W x UWB_H (55 x 28 x 10 mm default)
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// Mounting holes : M2.5, 4× corners on UWB_HOLE_X × UWB_HOLE_Y pattern
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// Mounting holes : M2.5, 4x corners on UWB_HOLE_X x UWB_HOLE_Y pattern
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// USB-C port : centred on short edge, UWB_USBC_W × UWB_USBC_H
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// USB-C port : centred on short edge, UWB_USBC_W x UWB_USBC_H
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// Antenna area : top face rear half — 10 mm keep-out of bracket material
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// Antenna area : top face rear half -- 10mm keep-out of bracket material
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//
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//
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// Tilt angles (15° detent steps, set TILT_DEG before export):
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// Tilt angles (15deg detent steps, set TILT_DEG before export):
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// 0° → horizontal face-up (ceiling, antenna faces down)
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// 0deg -> horizontal face-up (ceiling, antenna faces down)
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// 30° → 30° downward (wall near ceiling) [default]
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// 30deg -> 30deg downward tilt (wall near ceiling) [default]
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// 45° → diagonal (wall mid-height)
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// 45deg -> diagonal (wall mid-height)
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// 90° → vertical face-out (wall, antenna faces forward)
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// 90deg -> vertical face-out (wall, antenna faces forward)
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//
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//
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// RENDER options:
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// RENDER options:
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// "assembly" full assembly at TILT_DEG (default)
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// "assembly" full assembly at TILT_DEG (default)
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@ -61,40 +61,40 @@
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$fn = 64;
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$fn = 64;
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e = 0.01;
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e = 0.01;
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// ── Tilt angle (override per anchor, 0–90°, 15° steps) ───────────────────────
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// -- Tilt angle (override per anchor, 0-90deg, 15deg steps) ------------------
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TILT_DEG = 30;
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TILT_DEG = 30;
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// ── ESP32 UWB Pro PCB dimensions (verify with calipers) ──────────────────────
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// -- ESP32 UWB Pro PCB dimensions (verify with calipers) ---------------------
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UWB_L = 55.0; // PCB length
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UWB_L = 55.0;
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UWB_W = 28.0; // PCB width
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UWB_W = 28.0;
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UWB_H = 10.0; // PCB + components height
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UWB_H = 10.0;
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UWB_HOLE_X = 47.5; // M2.5 hole X span
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UWB_HOLE_X = 47.5;
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UWB_HOLE_Y = 21.0; // M2.5 hole Y span
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UWB_HOLE_Y = 21.0;
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UWB_USBC_W = 9.5; // USB-C receptacle width
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UWB_USBC_W = 9.5;
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UWB_USBC_H = 4.0; // USB-C receptacle height
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UWB_USBC_H = 4.0;
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UWB_ANTENNA_L = 20.0; // antenna area at PCB rear (keep-out)
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UWB_ANTENNA_L = 20.0;
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// ── Wall base geometry ────────────────────────────────────────────────────────
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// -- Wall base geometry -------------------------------------------------------
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BASE_W = 60.0;
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BASE_W = 60.0;
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BASE_H = 50.0;
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BASE_H = 50.0;
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BASE_T = 5.0;
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BASE_T = 5.0;
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BASE_SCREW_D = 4.5; // M4 clearance
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BASE_SCREW_D = 4.5;
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BASE_SCREW_HD = 8.5; // countersink OD
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BASE_SCREW_HD = 8.5;
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BASE_SCREW_HH = 3.5; // countersink depth
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BASE_SCREW_HH = 3.5;
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BASE_SCREW_SPC = 35.0; // Z span between screw holes
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BASE_SCREW_SPC = 35.0;
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KNUCKLE_T = BASE_T + 4.0; // pivot ear depth (Y)
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KNUCKLE_T = BASE_T + 4.0;
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// ── Tilt arm geometry ─────────────────────────────────────────────────────────
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// -- Tilt arm geometry --------------------------------------------------------
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ARM_W = 12.0;
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ARM_W = 12.0;
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ARM_T = 5.0;
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ARM_T = 5.0;
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ARM_L = 35.0;
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ARM_L = 35.0;
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PIVOT_D = 3.3; // M3 clearance
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PIVOT_D = 3.3;
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PIVOT_NUT_AF = 5.5;
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PIVOT_NUT_AF = 5.5;
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PIVOT_NUT_H = 2.4;
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PIVOT_NUT_H = 2.4;
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DETENT_D = 3.2; // detent notch diameter
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DETENT_D = 3.2;
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DETENT_R = 8.0; // detent notch radius from pivot
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DETENT_R = 8.0;
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// ── Anchor cradle geometry ────────────────────────────────────────────────────
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// -- Anchor cradle geometry ---------------------------------------------------
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CRADLE_WALL_T = 3.5;
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CRADLE_WALL_T = 3.5;
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CRADLE_BACK_T = 4.0;
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CRADLE_BACK_T = 4.0;
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CRADLE_FLOOR_T = 3.0;
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CRADLE_FLOOR_T = 3.0;
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@ -104,19 +104,19 @@ STANDOFF_H = 3.0;
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STANDOFF_OD = 5.5;
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STANDOFF_OD = 5.5;
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LABEL_W = UWB_L - 4.0;
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LABEL_W = UWB_L - 4.0;
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LABEL_H = UWB_W * 0.55;
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LABEL_H = UWB_W * 0.55;
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LABEL_T = 1.2; // label card thickness
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LABEL_T = 1.2;
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// ── USB-C cable routing ───────────────────────────────────────────────────────
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// -- USB-C routing ------------------------------------------------------------
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USBC_CHAN_W = 11.0;
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USBC_CHAN_W = 11.0;
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USBC_CHAN_H = 7.0;
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USBC_CHAN_H = 7.0;
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// ── Cable clip ────────────────────────────────────────────────────────────────
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// -- Cable clip ---------------------------------------------------------------
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CLIP_CABLE_D = 4.5;
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CLIP_CABLE_D = 4.5;
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CLIP_T = 2.0;
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CLIP_T = 2.0;
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CLIP_BODY_W = 16.0;
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CLIP_BODY_W = 16.0;
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CLIP_BODY_H = 10.0;
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CLIP_BODY_H = 10.0;
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// ── Fasteners ─────────────────────────────────────────────────────────────────
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// -- Fasteners ----------------------------------------------------------------
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M2P5_D = 2.7;
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M2P5_D = 2.7;
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M3_D = 3.3;
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M3_D = 3.3;
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M3_NUT_AF = 5.5;
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M3_NUT_AF = 5.5;
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@ -137,61 +137,35 @@ else if (RENDER == "cable_clip_stl") cable_clip();
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// ASSEMBLY PREVIEW
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// ASSEMBLY PREVIEW
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// ============================================================
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// ============================================================
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module assembly_preview() {
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module assembly_preview() {
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// Ghost wall surface
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%color("Wheat", 0.22)
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%color("Wheat", 0.22)
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translate([-BASE_W/2, -10, -BASE_H/2])
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translate([-BASE_W/2, -10, -BASE_H/2])
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cube([BASE_W, 10, BASE_H + 40]);
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cube([BASE_W, 10, BASE_H + 40]);
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color("OliveDrab", 0.85) wall_base();
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// Wall base
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color("OliveDrab", 0.85)
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wall_base();
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// Tilt arm at TILT_DEG, pivoting at knuckle
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color("SteelBlue", 0.85)
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color("SteelBlue", 0.85)
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translate([0, KNUCKLE_T, 0])
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translate([0, KNUCKLE_T, 0]) rotate([TILT_DEG,0,0]) tilt_arm();
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rotate([TILT_DEG, 0, 0])
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tilt_arm();
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// Anchor cradle at arm end
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color("DarkSlateGray", 0.85)
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color("DarkSlateGray", 0.85)
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translate([0, KNUCKLE_T, 0])
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translate([0, KNUCKLE_T, 0]) rotate([TILT_DEG,0,0])
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rotate([TILT_DEG, 0, 0])
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translate([0, ARM_T, ARM_L]) anchor_cradle();
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translate([0, ARM_T, ARM_L])
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anchor_cradle();
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// PCB ghost
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%color("ForestGreen", 0.38)
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%color("ForestGreen", 0.38)
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translate([0, KNUCKLE_T, 0])
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translate([0, KNUCKLE_T, 0]) rotate([TILT_DEG,0,0])
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rotate([TILT_DEG, 0, 0])
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translate([-UWB_L/2, ARM_T+CRADLE_BACK_T,
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translate([-UWB_L/2,
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ARM_L+CRADLE_FLOOR_T+STANDOFF_H])
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ARM_T + CRADLE_BACK_T,
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ARM_L + CRADLE_FLOOR_T + STANDOFF_H])
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cube([UWB_L, UWB_W, UWB_H]);
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cube([UWB_L, UWB_W, UWB_H]);
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// Cable clip at arm mid-point
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color("DimGray", 0.70)
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color("DimGray", 0.70)
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translate([ARM_W/2, KNUCKLE_T, 0])
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translate([ARM_W/2, KNUCKLE_T, 0]) rotate([TILT_DEG,0,0])
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rotate([TILT_DEG, 0, 0])
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translate([0, ARM_T+e, ARM_L/2]) rotate([0,-90,90]) cable_clip();
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translate([0, ARM_T + e, ARM_L/2])
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rotate([0, -90, 90])
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cable_clip();
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}
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}
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// ============================================================
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// ============================================================
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// PART 1 — WALL BASE
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// PART 1 -- WALL BASE
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// ============================================================
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// ============================================================
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// Flat backplate screws to wall or ceiling with 2× countersunk
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// Flat backplate, 2x countersunk M4/#6 wood screws on 35mm centres.
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// M4/#6 wood screws on BASE_SCREW_SPC (35 mm) centres.
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// Two pivot ears straddle the tilt arm; M3 pivot bolt through both.
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// Two pivot ears straddle the tilt arm; M3 pivot bolt passes through
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// Detent arc on +X ear inner face: 7 notches at 15deg steps (0-90deg).
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// both ears and arm knuckle.
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// Shallow rear recess for installation-zone label strip.
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// Detent arc on inner face of +X ear: 7 notches at 15° steps (0–90°)
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// Same part for wall mount and ceiling mount.
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// so tilt can be set without a protractor.
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// Shallow rear recess accepts a printed installation-zone label.
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//
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//
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// Dual-use: flat face to wall (vertical screw axis) or flat face
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// Print: backplate flat on bed, PETG, 5 perims, 40% gyroid.
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// to ceiling (horizontal screw axis) — same part either way.
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//
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// Print: backplate flat on bed, PETG, 5 perims, 40 % gyroid.
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module wall_base() {
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module wall_base() {
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ear_h = ARM_W + 3.0;
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ear_h = ARM_W + 3.0;
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ear_t = 6.0;
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ear_t = 6.0;
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@ -199,144 +173,92 @@ module wall_base() {
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difference() {
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difference() {
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union() {
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union() {
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// ── Backplate ────────────────────────────────────────────────
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translate([-BASE_W/2, -BASE_T, -BASE_H/2])
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translate([-BASE_W/2, -BASE_T, -BASE_H/2])
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cube([BASE_W, BASE_T, BASE_H]);
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cube([BASE_W, BASE_T, BASE_H]);
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// ── Two pivot ears ────────────────────────────────────────────
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for (ex = [-(ear_sep/2 + ear_t), ear_sep/2])
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for (ex = [-(ear_sep/2 + ear_t), ear_sep/2])
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translate([ex, -BASE_T + e, -ear_h/2])
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translate([ex, -BASE_T+e, -ear_h/2])
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cube([ear_t, KNUCKLE_T + e, ear_h]);
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cube([ear_t, KNUCKLE_T+e, ear_h]);
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// ── Stiffening gussets ────────────────────────────────────────
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for (ex = [-(ear_sep/2 + ear_t), ear_sep/2])
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for (ex = [-(ear_sep/2 + ear_t), ear_sep/2])
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hull() {
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hull() {
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translate([ex, -BASE_T, -ear_h/4])
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translate([ex, -BASE_T, -ear_h/4])
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cube([ear_t, BASE_T - 1, ear_h/2]);
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cube([ear_t, BASE_T-1, ear_h/2]);
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translate([ex + (ex < 0 ? ear_t*0.6 : 0),
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translate([ex + (ex<0 ? ear_t*0.5 : 0), -BASE_T, -ear_h/6])
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-BASE_T, -ear_h/6])
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cube([ear_t*0.5, 1, ear_h/3]);
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cube([ear_t * 0.4, 1, ear_h/3]);
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}
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}
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}
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}
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|
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// ── 2× countersunk wall screws ────────────────────────────────────
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|
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for (sz = [-BASE_SCREW_SPC/2, BASE_SCREW_SPC/2]) {
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for (sz = [-BASE_SCREW_SPC/2, BASE_SCREW_SPC/2]) {
|
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translate([0, -BASE_T - e, sz])
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translate([0, -BASE_T-e, sz]) rotate([-90,0,0])
|
||||||
rotate([-90, 0, 0])
|
cylinder(d=BASE_SCREW_D, h=BASE_T+2*e);
|
||||||
cylinder(d = BASE_SCREW_D, h = BASE_T + 2*e);
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translate([0, -BASE_T-e, sz]) rotate([-90,0,0])
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translate([0, -BASE_T - e, sz])
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cylinder(d1=BASE_SCREW_HD, d2=BASE_SCREW_D, h=BASE_SCREW_HH+e);
|
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rotate([-90, 0, 0])
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|
||||||
cylinder(d1 = BASE_SCREW_HD, d2 = BASE_SCREW_D,
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|
||||||
h = BASE_SCREW_HH + e);
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|
||||||
}
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}
|
||||||
|
translate([-(ear_sep/2+ear_t+e), KNUCKLE_T*0.55, 0])
|
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// ── Pivot bolt bore (M3, through both ears) ───────────────────────
|
rotate([0,90,0]) cylinder(d=PIVOT_D, h=ear_sep+2*ear_t+2*e);
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translate([-(ear_sep/2 + ear_t + e), KNUCKLE_T * 0.55, 0])
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translate([ear_sep/2+ear_t-PIVOT_NUT_H-0.4, KNUCKLE_T*0.55, 0])
|
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rotate([0, 90, 0])
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rotate([0,90,0])
|
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cylinder(d = PIVOT_D, h = ear_sep + 2*ear_t + 2*e);
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cylinder(d=PIVOT_NUT_AF/cos(30), h=PIVOT_NUT_H+0.5, $fn=6);
|
||||||
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|
||||||
// ── M3 nyloc nut pocket (outer face of one ear) ───────────────────
|
|
||||||
translate([ear_sep/2 + ear_t - PIVOT_NUT_H - 0.4,
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|
||||||
KNUCKLE_T * 0.55, 0])
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|
||||||
rotate([0, 90, 0])
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|
||||||
cylinder(d = PIVOT_NUT_AF / cos(30),
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|
||||||
h = PIVOT_NUT_H + 0.5, $fn = 6);
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|
||||||
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|
||||||
// ── Detent arc — 7 notches at 15° steps on +X ear inner face ─────
|
|
||||||
for (da = [0 : 15 : 90])
|
for (da = [0 : 15 : 90])
|
||||||
translate([ear_sep/2 - e,
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translate([ear_sep/2-e,
|
||||||
KNUCKLE_T * 0.55 + DETENT_R * sin(da),
|
KNUCKLE_T*0.55 + DETENT_R*sin(da),
|
||||||
DETENT_R * cos(da)])
|
DETENT_R*cos(da)])
|
||||||
rotate([0, 90, 0])
|
rotate([0,90,0]) cylinder(d=DETENT_D, h=ear_t*0.45+e);
|
||||||
cylinder(d = DETENT_D, h = ear_t * 0.45 + e);
|
translate([0, -BASE_T-e, 0]) rotate([-90,0,0])
|
||||||
|
cube([BASE_W-12, BASE_H-16, 1.6], center=true);
|
||||||
// ── Installation label recess (rear face of backplate) ────────────
|
translate([0, -BASE_T+1.5, 0])
|
||||||
translate([0, -BASE_T - e, 0])
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cube([BASE_W-14, BASE_T-3, BASE_H-20], center=true);
|
||||||
rotate([-90, 0, 0])
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|
||||||
cube([BASE_W - 12, BASE_H - 16, 1.6], center = true);
|
|
||||||
|
|
||||||
// ── Lightening pocket ─────────────────────────────────────────────
|
|
||||||
translate([0, -BASE_T + 1.5, 0])
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|
||||||
cube([BASE_W - 14, BASE_T - 3, BASE_H - 20], center = true);
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// ============================================================
|
// ============================================================
|
||||||
// PART 2 — TILT ARM
|
// PART 2 -- TILT ARM
|
||||||
// ============================================================
|
// ============================================================
|
||||||
// Pivoting arm linking wall_base pivot ears to anchor_cradle.
|
// Pivoting arm linking wall_base ears to anchor_cradle.
|
||||||
// Knuckle end (Z=0): M3 pivot bore + spring-plunger detent pocket
|
// Knuckle (Z=0): M3 pivot bore + spring-plunger detent pocket (3mm).
|
||||||
// that indexes into the base ear detent arc notches.
|
// Cradle end (Z=ARM_L): 2x M3 bolt attachment stub.
|
||||||
// Cradle end (Z=ARM_L): 2× M3 bolt attachment to cradle back wall.
|
// USB-C cable channel groove on outer +Y face, full arm length.
|
||||||
// USB-C cable channel runs along outer (+Y) face, full arm length.
|
|
||||||
//
|
//
|
||||||
// Print: knuckle face flat on bed, PETG, 5 perims, 40 % gyroid.
|
// Print: knuckle face flat on bed, PETG, 5 perims, 40% gyroid.
|
||||||
module tilt_arm() {
|
module tilt_arm() {
|
||||||
total_h = ARM_L + 10;
|
total_h = ARM_L + 10;
|
||||||
|
|
||||||
difference() {
|
difference() {
|
||||||
union() {
|
union() {
|
||||||
// ── Arm body ─────────────────────────────────────────────────
|
translate([-ARM_W/2, 0, 0]) cube([ARM_W, ARM_T, total_h]);
|
||||||
translate([-ARM_W/2, 0, 0])
|
translate([0, ARM_T/2, 0]) rotate([90,0,0])
|
||||||
cube([ARM_W, ARM_T, total_h]);
|
cylinder(d=ARM_W, h=ARM_T, center=true);
|
||||||
|
|
||||||
// ── Knuckle boss (rounded pivot end) ─────────────────────────
|
|
||||||
translate([0, ARM_T/2, 0])
|
|
||||||
rotate([90, 0, 0])
|
|
||||||
cylinder(d = ARM_W, h = ARM_T, center = true);
|
|
||||||
|
|
||||||
// ── Cradle attach stub (Z = ARM_L) ────────────────────────────
|
|
||||||
translate([-ARM_W/2, 0, ARM_L])
|
translate([-ARM_W/2, 0, ARM_L])
|
||||||
cube([ARM_W, ARM_T + CRADLE_BACK_T, ARM_T]);
|
cube([ARM_W, ARM_T+CRADLE_BACK_T, ARM_T]);
|
||||||
}
|
}
|
||||||
|
translate([-ARM_W/2-e, ARM_T/2, 0]) rotate([0,90,0])
|
||||||
// ── M3 pivot bore ─────────────────────────────────────────────────
|
cylinder(d=PIVOT_D, h=ARM_W+2*e);
|
||||||
translate([-ARM_W/2 - e, ARM_T/2, 0])
|
translate([0, ARM_T+e, 0]) rotate([90,0,0])
|
||||||
rotate([0, 90, 0])
|
cylinder(d=3.2, h=4+e);
|
||||||
cylinder(d = PIVOT_D, h = ARM_W + 2*e);
|
translate([-USBC_CHAN_W/2, ARM_T-e, ARM_T+4])
|
||||||
|
cube([USBC_CHAN_W, USBC_CHAN_H, ARM_L-ARM_T-8]);
|
||||||
// ── Detent plunger pocket (3 mm spring-ball, outer +Y face) ──────
|
|
||||||
translate([0, ARM_T + e, 0])
|
|
||||||
rotate([90, 0, 0])
|
|
||||||
cylinder(d = 3.2, h = 4 + e);
|
|
||||||
|
|
||||||
// ── USB-C cable channel (outer +Y face, mid-arm length) ───────────
|
|
||||||
translate([-USBC_CHAN_W/2, ARM_T - e, ARM_T + 4])
|
|
||||||
cube([USBC_CHAN_W, USBC_CHAN_H, ARM_L - ARM_T - 8]);
|
|
||||||
|
|
||||||
// ── Cradle attach bolt holes (2× M3 at cradle stub) ───────────────
|
|
||||||
for (bx = [-ARM_W/4, ARM_W/4])
|
for (bx = [-ARM_W/4, ARM_W/4])
|
||||||
translate([bx, ARM_T/2, ARM_L + ARM_T/2])
|
translate([bx, ARM_T/2, ARM_L+ARM_T/2]) rotate([90,0,0])
|
||||||
rotate([90, 0, 0])
|
cylinder(d=M3_D, h=ARM_T+CRADLE_BACK_T+2*e);
|
||||||
cylinder(d = M3_D, h = ARM_T + CRADLE_BACK_T + 2*e);
|
|
||||||
|
|
||||||
// ── M3 nut pockets (front of cradle stub) ─────────────────────────
|
|
||||||
for (bx = [-ARM_W/4, ARM_W/4])
|
for (bx = [-ARM_W/4, ARM_W/4])
|
||||||
translate([bx, ARM_T/2, ARM_L + ARM_T/2])
|
translate([bx, ARM_T/2, ARM_L+ARM_T/2]) rotate([-90,0,0])
|
||||||
rotate([-90, 0, 0])
|
cylinder(d=M3_NUT_AF/cos(30), h=M3_NUT_H+0.5, $fn=6);
|
||||||
cylinder(d = M3_NUT_AF / cos(30),
|
|
||||||
h = M3_NUT_H + 0.5, $fn = 6);
|
|
||||||
|
|
||||||
// ── Lightening pocket ─────────────────────────────────────────────
|
|
||||||
translate([0, ARM_T/2, ARM_L/2])
|
translate([0, ARM_T/2, ARM_L/2])
|
||||||
cube([ARM_W - 4, ARM_T - 2, ARM_L - 18], center = true);
|
cube([ARM_W-4, ARM_T-2, ARM_L-18], center=true);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// ============================================================
|
// ============================================================
|
||||||
// PART 3 — ANCHOR CRADLE
|
// PART 3 -- ANCHOR CRADLE
|
||||||
// ============================================================
|
// ============================================================
|
||||||
// Open-front U-cradle for ESP32 UWB Pro PCB.
|
// Open-front U-cradle for ESP32 UWB Pro PCB.
|
||||||
// PCB retained on 4× M2.5 standoffs matching UWB_HOLE_X × UWB_HOLE_Y.
|
// 4x M2.5 standoffs on UWB_HOLE_X x UWB_HOLE_Y pattern.
|
||||||
// Back wall features:
|
// Back wall: USB-C exit slot + routing groove, label card slot,
|
||||||
// • USB-C exit slot — aligns with PCB USB-C port
|
// antenna keep-out cutout (material removed above antenna area).
|
||||||
// • USB-C groove — cable routes from slot toward arm channel
|
// Front retaining lip prevents PCB sliding out.
|
||||||
// • Label card slot — insert printed strip for anchor ID
|
// Two attachment tabs bolt to tilt_arm cradle stub via M3.
|
||||||
// • Antenna keep-out — back wall material removed above antenna area
|
|
||||||
// Front lip prevents PCB from sliding forward.
|
|
||||||
// Two attachment tabs bolt to tilt_arm cradle stub.
|
|
||||||
//
|
//
|
||||||
// Print: back wall flat on bed, PETG, 5 perims, 40 % gyroid.
|
// Label card slot: insert paper/laminate strip to ID this anchor
|
||||||
|
// (e.g. "UWB-A3 NE-CORNER"), accessible from open cradle end.
|
||||||
|
//
|
||||||
|
// Print: back wall flat on bed, PETG, 5 perims, 40% gyroid.
|
||||||
module anchor_cradle() {
|
module anchor_cradle() {
|
||||||
outer_l = UWB_L + 2*CRADLE_WALL_T;
|
outer_l = UWB_L + 2*CRADLE_WALL_T;
|
||||||
outer_w = UWB_W + CRADLE_FLOOR_T;
|
outer_w = UWB_W + CRADLE_FLOOR_T;
|
||||||
@ -345,119 +267,75 @@ module anchor_cradle() {
|
|||||||
|
|
||||||
difference() {
|
difference() {
|
||||||
union() {
|
union() {
|
||||||
// ── Cradle body ───────────────────────────────────────────────
|
translate([-outer_l/2, 0, 0]) cube([outer_l, outer_w, total_z]);
|
||||||
translate([-outer_l/2, 0, 0])
|
translate([-outer_l/2, outer_w-CRADLE_LIP_T, 0])
|
||||||
cube([outer_l, outer_w, total_z]);
|
|
||||||
|
|
||||||
// ── Front retaining lip ───────────────────────────────────────
|
|
||||||
translate([-outer_l/2, outer_w - CRADLE_LIP_T, 0])
|
|
||||||
cube([outer_l, CRADLE_LIP_T, CRADLE_LIP_H]);
|
cube([outer_l, CRADLE_LIP_T, CRADLE_LIP_H]);
|
||||||
|
|
||||||
// ── Arm attachment tabs (behind back wall) ─────────────────────
|
|
||||||
for (tx = [-ARM_W/4, ARM_W/4])
|
for (tx = [-ARM_W/4, ARM_W/4])
|
||||||
translate([tx - 4, -CRADLE_BACK_T, 0])
|
translate([tx-4, -CRADLE_BACK_T, 0])
|
||||||
cube([8, CRADLE_BACK_T + 1, total_z]);
|
cube([8, CRADLE_BACK_T+1, total_z]);
|
||||||
}
|
}
|
||||||
|
translate([-UWB_L/2, 0, pcb_z]) cube([UWB_L, UWB_W+1, UWB_H+4]);
|
||||||
// ── PCB pocket ────────────────────────────────────────────────────
|
translate([0, -CRADLE_BACK_T-e, pcb_z+UWB_H/2-UWB_USBC_H/2])
|
||||||
translate([-UWB_L/2, 0, pcb_z])
|
cube([UWB_USBC_W+2, CRADLE_BACK_T+2*e, UWB_USBC_H+2],
|
||||||
cube([UWB_L, UWB_W + 1, UWB_H + 4]);
|
center=[true,false,false]);
|
||||||
|
translate([0, -CRADLE_BACK_T-e, -e])
|
||||||
// ── USB-C exit slot (through back wall, aligned to PCB port) ─────
|
cube([USBC_CHAN_W, USBC_CHAN_H, pcb_z+UWB_H/2+USBC_CHAN_H],
|
||||||
translate([0, -CRADLE_BACK_T - e,
|
center=[true,false,false]);
|
||||||
pcb_z + UWB_H/2 - UWB_USBC_H/2])
|
translate([0, -CRADLE_BACK_T-e, pcb_z+UWB_H/2])
|
||||||
cube([UWB_USBC_W + 2, CRADLE_BACK_T + 2*e, UWB_USBC_H + 2],
|
cube([LABEL_W, LABEL_T+0.3, LABEL_H], center=[true,false,false]);
|
||||||
center = [true, false, false]);
|
translate([0, -e, pcb_z+UWB_H-UWB_ANTENNA_L])
|
||||||
|
cube([UWB_L-4, CRADLE_BACK_T+2*e, UWB_ANTENNA_L+4],
|
||||||
// ── USB-C cable routing groove (outer back wall face) ─────────────
|
center=[true,false,false]);
|
||||||
translate([0, -CRADLE_BACK_T - e, -e])
|
|
||||||
cube([USBC_CHAN_W, USBC_CHAN_H, pcb_z + UWB_H/2 + USBC_CHAN_H],
|
|
||||||
center = [true, false, false]);
|
|
||||||
|
|
||||||
// ── Label card slot (insert from below, rear face upper half) ─────
|
|
||||||
// Paper/laminate card strip identifying this anchor instance
|
|
||||||
translate([0, -CRADLE_BACK_T - e, pcb_z + UWB_H/2])
|
|
||||||
cube([LABEL_W, LABEL_T + 0.3, LABEL_H],
|
|
||||||
center = [true, false, false]);
|
|
||||||
|
|
||||||
// ── Antenna keep-out: remove back wall above antenna area ─────────
|
|
||||||
translate([0, -e, pcb_z + UWB_H - UWB_ANTENNA_L])
|
|
||||||
cube([UWB_L - 4, CRADLE_BACK_T + 2*e, UWB_ANTENNA_L + 4],
|
|
||||||
center = [true, false, false]);
|
|
||||||
|
|
||||||
// ── Arm bolt holes through attachment tabs ────────────────────────
|
|
||||||
for (tx = [-ARM_W/4, ARM_W/4])
|
for (tx = [-ARM_W/4, ARM_W/4])
|
||||||
translate([tx, ARM_T/2 - CRADLE_BACK_T, total_z/2])
|
translate([tx, ARM_T/2-CRADLE_BACK_T, total_z/2])
|
||||||
rotate([-90, 0, 0])
|
rotate([-90,0,0])
|
||||||
cylinder(d = M3_D, h = ARM_T + CRADLE_BACK_T + 2*e);
|
cylinder(d=M3_D, h=ARM_T+CRADLE_BACK_T+2*e);
|
||||||
|
for (side_x = [-outer_l/2-e, outer_l/2-CRADLE_WALL_T-e])
|
||||||
// ── Lightening slots in side walls ────────────────────────────────
|
translate([side_x, 2, pcb_z+2])
|
||||||
for (side_x = [-outer_l/2 - e, outer_l/2 - CRADLE_WALL_T - e])
|
cube([CRADLE_WALL_T+2*e, UWB_W-4, UWB_H-4]);
|
||||||
translate([side_x, 2, pcb_z + 2])
|
|
||||||
cube([CRADLE_WALL_T + 2*e, UWB_W - 4, UWB_H - 4]);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// ── M2.5 standoff bosses (positive, inside cradle floor) ──────────────
|
|
||||||
for (hx = [-UWB_HOLE_X/2, UWB_HOLE_X/2])
|
for (hx = [-UWB_HOLE_X/2, UWB_HOLE_X/2])
|
||||||
for (hy = [(outer_w - UWB_W)/2 + (UWB_W - UWB_HOLE_Y)/2,
|
for (hy = [(outer_w-UWB_W)/2 + (UWB_W-UWB_HOLE_Y)/2,
|
||||||
(outer_w - UWB_W)/2 + (UWB_W - UWB_HOLE_Y)/2 + UWB_HOLE_Y])
|
(outer_w-UWB_W)/2 + (UWB_W-UWB_HOLE_Y)/2 + UWB_HOLE_Y])
|
||||||
difference() {
|
difference() {
|
||||||
translate([hx, hy, CRADLE_FLOOR_T - e])
|
translate([hx, hy, CRADLE_FLOOR_T-e])
|
||||||
cylinder(d = STANDOFF_OD, h = STANDOFF_H + e);
|
cylinder(d=STANDOFF_OD, h=STANDOFF_H+e);
|
||||||
translate([hx, hy, CRADLE_FLOOR_T - 2*e])
|
translate([hx, hy, CRADLE_FLOOR_T-2*e])
|
||||||
cylinder(d = M2P5_D, h = STANDOFF_H + 4);
|
cylinder(d=M2P5_D, h=STANDOFF_H+4);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// ============================================================
|
// ============================================================
|
||||||
// PART 4 — CABLE CLIP
|
// PART 4 -- CABLE CLIP
|
||||||
// ============================================================
|
// ============================================================
|
||||||
// Snap-on C-clip retaining USB-C cable along tilt arm outer face.
|
// Snap-on C-clip retaining USB-C cable along tilt arm outer face.
|
||||||
// Presses onto ARM_T-wide arm with PETG snap tongues.
|
// Presses onto ARM_T-wide arm with flexible PETG snap tongues.
|
||||||
// Open-front cable channel for push-in cable insertion.
|
// Print x2-3 per anchor, spaced 25mm along arm.
|
||||||
// Print ×2–3 per anchor, spaced 25 mm along arm.
|
|
||||||
//
|
//
|
||||||
// Print: clip-opening face down, PETG, 3 perims, 20 % infill.
|
// Print: clip-opening face down, PETG, 3 perims, 20% infill.
|
||||||
module cable_clip() {
|
module cable_clip() {
|
||||||
ch_r = CLIP_CABLE_D/2 + CLIP_T;
|
ch_r = CLIP_CABLE_D/2 + CLIP_T;
|
||||||
snap_t = 1.6;
|
snap_t = 1.6;
|
||||||
|
|
||||||
difference() {
|
difference() {
|
||||||
union() {
|
union() {
|
||||||
// ── Body plate ────────────────────────────────────────────────
|
|
||||||
translate([-CLIP_BODY_W/2, 0, 0])
|
translate([-CLIP_BODY_W/2, 0, 0])
|
||||||
cube([CLIP_BODY_W, CLIP_T, CLIP_BODY_H]);
|
cube([CLIP_BODY_W, CLIP_T, CLIP_BODY_H]);
|
||||||
|
translate([0, CLIP_T+ch_r, CLIP_BODY_H/2]) rotate([0,90,0])
|
||||||
// ── Cable channel (C-shape, opens toward +Y) ─────────────────
|
|
||||||
translate([0, CLIP_T + ch_r, CLIP_BODY_H/2])
|
|
||||||
rotate([0, 90, 0])
|
|
||||||
difference() {
|
difference() {
|
||||||
cylinder(r = ch_r, h = CLIP_BODY_W, center = true);
|
cylinder(r=ch_r, h=CLIP_BODY_W, center=true);
|
||||||
cylinder(r = CLIP_CABLE_D/2,
|
cylinder(r=CLIP_CABLE_D/2, h=CLIP_BODY_W+2*e, center=true);
|
||||||
h = CLIP_BODY_W + 2*e, center = true);
|
translate([0, ch_r+e, 0])
|
||||||
// open insertion slot
|
cube([CLIP_CABLE_D*0.85, ch_r*2+2*e, CLIP_BODY_W+2*e],
|
||||||
translate([0, ch_r + e, 0])
|
center=true);
|
||||||
cube([CLIP_CABLE_D * 0.85,
|
|
||||||
ch_r * 2 + 2*e,
|
|
||||||
CLIP_BODY_W + 2*e], center = true);
|
|
||||||
}
|
}
|
||||||
|
for (tx = [-CLIP_BODY_W/2+1.5, CLIP_BODY_W/2-1.5-snap_t])
|
||||||
// ── Snap tongues (straddle arm, -Y side of body) ─────────────
|
translate([tx, -ARM_T-1, 0])
|
||||||
for (tx = [-CLIP_BODY_W/2 + 1.5,
|
cube([snap_t, ARM_T+1+CLIP_T, CLIP_BODY_H]);
|
||||||
CLIP_BODY_W/2 - 1.5 - snap_t])
|
for (tx = [-CLIP_BODY_W/2+1.5, CLIP_BODY_W/2-1.5-snap_t])
|
||||||
translate([tx, -ARM_T - 1, 0])
|
translate([tx+snap_t/2, -ARM_T-1, CLIP_BODY_H/2])
|
||||||
cube([snap_t, ARM_T + 1 + CLIP_T, CLIP_BODY_H]);
|
rotate([0,90,0]) cylinder(d=2, h=snap_t, center=true);
|
||||||
|
|
||||||
// ── Snap barbs ────────────────────────────────────────────────
|
|
||||||
for (tx = [-CLIP_BODY_W/2 + 1.5,
|
|
||||||
CLIP_BODY_W/2 - 1.5 - snap_t])
|
|
||||||
translate([tx + snap_t/2, -ARM_T - 1, CLIP_BODY_H/2])
|
|
||||||
rotate([0, 90, 0])
|
|
||||||
cylinder(d = 2, h = snap_t, center = true);
|
|
||||||
}
|
}
|
||||||
|
translate([0, -ARM_T-1-e, CLIP_BODY_H/2])
|
||||||
// ── Arm slot (arm body passes between tongues) ─────────────────────
|
cube([CLIP_BODY_W-6, ARM_T+2, CLIP_BODY_H-4], center=true);
|
||||||
translate([0, -ARM_T - 1 - e, CLIP_BODY_H/2])
|
|
||||||
cube([CLIP_BODY_W - 6, ARM_T + 2, CLIP_BODY_H - 4], center = true);
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user