sl-firmware
fa75c442a7
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
341 lines
16 KiB
OpenSCAD
341 lines
16 KiB
OpenSCAD
// =============================================================================
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// SaltyBot — Parametric Chassis Frame
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// Task: bd-1iy5
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// Agent: sl-mechanical
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// Date: 2026-02-28
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//
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// Self-balancing two-wheeled robot chassis
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// Requirements:
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// - 600mm wheelbase
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// - 2x hoverboard hub motors (170mm OD)
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// - ESP32-S3 ESP32-S3 BALANCE FC mount (30.5x30.5mm pattern)
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// - Battery tray (24V 4Ah — ~180x70x50mm pack)
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// - Jetson Orin Nano Super B01 mount plate (100x80mm, M3 holes)
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// - Front/rear bumper brackets
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// =============================================================================
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// ─── RENDER QUALITY ──────────────────────────────────────────────────────────
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$fn = 64;
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// =============================================================================
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// PARAMETERS — edit here to adjust the whole model
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// =============================================================================
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// ── Wheelbase / overall geometry ─────────────────────────────────────────────
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WHEELBASE = 600; // mm, center-to-center axle distance (lateral)
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FRAME_WIDTH = 220; // mm, front-to-back depth of main deck
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DECK_THICKNESS = 6; // mm, main deck plate thickness
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WALL_T = 4; // mm, general wall thickness for brackets/ribs
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// ── Hub motor parameters ─────────────────────────────────────────────────────
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MOTOR_OD = 170; // mm, motor housing outer diameter
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MOTOR_AXLE_D = 14; // mm, axle bolt diameter
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MOTOR_AXLE_FLAT = 10; // mm, axle flat-to-flat (for anti-rotation)
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MOTOR_FORK_WIDTH = 24; // mm, dropout slot width (fits 10-14mm axle + spacers)
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MOTOR_FORK_DEPTH = 60; // mm, dropout slot depth from fork tip
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MOTOR_FORK_H = 80; // mm, total height of motor fork bracket
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MOTOR_FORK_T = 8; // mm, fork plate thickness
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AXLE_HEIGHT = 310; // mm, axle CL above ground (motor radius + clearance)
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// ── FC mount (ESP32-S3 BALANCE — 30.5 × 30.5 mm M3 pattern) ──────────────────────
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FC_MOUNT_SPACING = 30.5; // mm, hole pattern pitch
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FC_MOUNT_HOLE_D = 3.2; // mm, M3 clearance
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FC_STANDOFF_H = 6; // mm, standoff height
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FC_PAD_T = 3; // mm, mounting pad thickness
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// ── Battery tray (24V 4Ah LiPo / LiFePO4) ───────────────────────────────────
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BATT_L = 185; // mm, cell pack length
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BATT_W = 72; // mm, cell pack width
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BATT_H = 52; // mm, cell pack height
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BATT_WALL = 3; // mm, tray wall thickness
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BATT_FLOOR = 4; // mm, tray floor thickness
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BATT_STRAP_W = 20; // mm, Velcro strap slot width
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BATT_STRAP_T = 2; // mm, strap slot depth
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// ── Jetson Orin Nano Super B01 mount plate ──────────────────────────────────────────────
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// B01 carrier board hole pattern: 58 x 58 mm M3 (inner) + corner pass-throughs
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JETSON_HOLE_PITCH = 58; // mm, M3 mounting hole pattern
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JETSON_HOLE_D = 3.2; // mm
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JETSON_PLATE_L = 105; // mm, plate length
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JETSON_PLATE_W = 90; // mm, plate width
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JETSON_PLATE_T = 4; // mm, plate thickness
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JETSON_STANDOFF_H = 8; // mm
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// ── Bumper bracket ────────────────────────────────────────────────────────────
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BUMPER_L = WHEELBASE + 60; // mm, bumper rail length (overhangs wheel CL)
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BUMPER_H = 40; // mm, bracket vertical height
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BUMPER_T = 5; // mm, bracket plate thickness
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BUMPER_TUBE_OD = 22; // mm, 3/4" EMT conduit OD for bumper rail
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// ── Rib / gusset parameters ───────────────────────────────────────────────────
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RIB_W = 20; // mm, longitudinal rib width
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RIB_H = 40; // mm, rib height below deck
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RIB_T = 4; // mm, rib plate thickness (laser/router cut)
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// ── Fastener helpers ─────────────────────────────────────────────────────────
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M3_D = 3.2;
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M4_D = 4.3;
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M5_D = 5.3;
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M6_D = 6.5;
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// =============================================================================
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// MAIN ASSEMBLY — comment/uncomment parts as needed
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// =============================================================================
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color("Silver", 0.9) main_deck();
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color("DimGray") motor_fork(side= 1); // right (+X)
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color("DimGray") motor_fork(side=-1); // left (-X)
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color("SteelBlue") battery_tray();
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color("OliveDrab") fc_mount_plate();
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color("DarkOrange") jetson_mount_plate();
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color("Tomato") bumper_bracket(front= 1);
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color("Tomato") bumper_bracket(front=-1);
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color("WhiteSmoke") longitudinal_ribs();
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// =============================================================================
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// MODULES
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// =============================================================================
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// ─── Main deck plate ─────────────────────────────────────────────────────────
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module main_deck() {
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difference() {
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// Deck plate
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translate([-WHEELBASE/2 - MOTOR_FORK_T, -FRAME_WIDTH/2, 0])
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cube([WHEELBASE + 2*MOTOR_FORK_T, FRAME_WIDTH, DECK_THICKNESS]);
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// Lightening holes — 3 rows × 4 cols
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for (x = [-WHEELBASE/3, 0, WHEELBASE/3])
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for (y = [-FRAME_WIDTH/4, FRAME_WIDTH/4])
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translate([x, y, -1])
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cylinder(d=50, h=DECK_THICKNESS+2);
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// FC mount holes
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fc_mount_holes(z_offset=-1, depth=DECK_THICKNESS+2);
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// Battery tray floor cutout for wire pass-through
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translate([-BATT_L/2 + 40, -BATT_W/2 + 40, -1])
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cube([BATT_L - 80, BATT_W - 80, DECK_THICKNESS+2]);
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// Cable routing slots
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for (x = [-60, 60])
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translate([x, -FRAME_WIDTH/2 - 1, -1])
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cube([14, 18, DECK_THICKNESS+2]);
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}
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}
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// ─── Longitudinal ribs (×2, symmetric F/R) ───────────────────────────────────
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module longitudinal_ribs() {
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for (y = [-FRAME_WIDTH/2 + RIB_W/2 + WALL_T,
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FRAME_WIDTH/2 - RIB_W/2 - WALL_T])
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translate([-WHEELBASE/2, y - RIB_T/2, -RIB_H])
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cube([WHEELBASE, RIB_T, RIB_H]);
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}
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// ─── Motor fork dropout bracket ──────────────────────────────────────────────
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// Mounts to deck edge; provides a CNC-milled or FDM dropout slot for the axle.
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// `side` = +1 (right/+X) or -1 (left/-X)
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module motor_fork(side = 1) {
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x_pos = side * (WHEELBASE/2);
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translate([x_pos, 0, 0]) {
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difference() {
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union() {
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// Vertical fork body
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translate([side*(DECK_THICKNESS/2), -MOTOR_FORK_WIDTH/2 - 4, -MOTOR_FORK_H])
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cube([side * MOTOR_FORK_T, MOTOR_FORK_WIDTH + 8, MOTOR_FORK_H + DECK_THICKNESS]);
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// Gusset triangles
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for (g = [-1, 1])
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translate([side*(DECK_THICKNESS/2), g*(MOTOR_FORK_WIDTH/2 + 2), -MOTOR_FORK_H])
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linear_extrude(height=MOTOR_FORK_T)
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polygon([[0,0],[0, g*20],[side*-30, 0]]);
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}
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// Axle dropout slot (open at bottom)
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translate([side*(DECK_THICKNESS/2) - 1,
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-MOTOR_AXLE_FLAT/2,
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-MOTOR_FORK_DEPTH - MOTOR_AXLE_D/2])
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cube([MOTOR_FORK_T + 2, MOTOR_AXLE_FLAT, MOTOR_FORK_DEPTH + 1]);
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// Axle through-hole at slot top
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translate([side*(DECK_THICKNESS/2) - 1, 0,
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-MOTOR_FORK_DEPTH - MOTOR_AXLE_D/2])
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rotate([0, 90, 0])
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cylinder(d=MOTOR_AXLE_D + 1, h=MOTOR_FORK_T + 2);
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// Bolt holes for deck attachment (M5 × 4)
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for (y = [-20, 20])
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for (z = [4, 12])
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translate([side*(DECK_THICKNESS/2) - 1, y, z - MOTOR_FORK_H + MOTOR_FORK_H/2])
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rotate([0, 90, 0])
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cylinder(d=M5_D, h=MOTOR_FORK_T + 2);
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}
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}
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}
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// ─── Battery tray ─────────────────────────────────────────────────────────────
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// Positioned in centre of deck, recessed 10mm below deck surface
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module battery_tray() {
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z_base = -BATT_FLOOR - BATT_H - 5; // hang below deck
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translate([-BATT_L/2 - BATT_WALL, -BATT_W/2 - BATT_WALL, z_base]) {
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difference() {
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// Outer tray body
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cube([BATT_L + 2*BATT_WALL,
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BATT_W + 2*BATT_WALL,
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BATT_H + BATT_FLOOR]);
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// Inner cavity
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translate([BATT_WALL, BATT_WALL, BATT_FLOOR])
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cube([BATT_L, BATT_W, BATT_H + 1]);
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// Strap slots (2× longitudinal)
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for (x = [BATT_L/2 - BATT_STRAP_W*2,
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BATT_L/2 + BATT_STRAP_W])
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translate([x, -1, BATT_FLOOR + BATT_H/2 - BATT_STRAP_W/2])
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cube([BATT_STRAP_W, BATT_W + 2*BATT_WALL + 2, BATT_STRAP_W]);
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// Ventilation slots bottom (3×)
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for (i = [0:2])
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translate([BATT_WALL + 20 + i*50, BATT_WALL + 10, -1])
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cube([30, BATT_W - 20, BATT_FLOOR + 2]);
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// Mount holes to deck (M4 × 4 corners)
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for (x = [10, BATT_L + BATT_WALL - 2])
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for (y = [10, BATT_W + BATT_WALL - 2])
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translate([x, y, BATT_H + BATT_FLOOR - 1])
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cylinder(d=M4_D, h=BATT_FLOOR + 2);
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}
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}
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}
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// ─── FC mount holes helper ────────────────────────────────────────────────────
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module fc_mount_holes(z_offset=0, depth=10) {
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// ESP32-S3 BALANCE: 30.5×30.5 mm M3 pattern, centred at origin
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for (x = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2])
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for (y = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2])
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translate([x, y, z_offset])
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cylinder(d=FC_MOUNT_HOLE_D, h=depth);
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}
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// ─── FC mount plate (raised 40mm above deck centre) ──────────────────────────
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module fc_mount_plate() {
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fc_x = -50; // offset toward front from deck centre
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fc_y = 0;
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plate_z = DECK_THICKNESS + FC_STANDOFF_H;
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translate([fc_x, fc_y, 0]) {
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difference() {
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union() {
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// Mount pads with standoffs
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for (x = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2])
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for (y = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2]) {
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translate([x, y, DECK_THICKNESS])
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cylinder(d=8, h=FC_STANDOFF_H); // standoff column
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translate([x - 5, y - 5, DECK_THICKNESS])
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cube([10, 10, FC_PAD_T]); // pad base
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}
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// Base plate
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translate([-FC_MOUNT_SPACING/2 - 8, -FC_MOUNT_SPACING/2 - 8, DECK_THICKNESS])
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cube([FC_MOUNT_SPACING + 16, FC_MOUNT_SPACING + 16, FC_PAD_T]);
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}
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// M3 through-holes in standoffs
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fc_mount_holes(z_offset=DECK_THICKNESS - 1, depth=FC_STANDOFF_H + FC_PAD_T + 2);
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// Deck anchor holes
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fc_mount_holes(z_offset=-1, depth=DECK_THICKNESS + 2);
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}
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}
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}
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// ─── Jetson Orin Nano Super B01 mount plate ─────────────────────────────────────────────
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// Positioned rear of deck, elevated on standoffs
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module jetson_mount_plate() {
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jet_x = 60; // offset toward rear
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jet_y = 0;
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plate_z = DECK_THICKNESS + JETSON_STANDOFF_H;
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translate([jet_x, jet_y, 0]) {
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difference() {
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union() {
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// Mounting plate
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translate([-JETSON_PLATE_L/2, -JETSON_PLATE_W/2, DECK_THICKNESS + JETSON_STANDOFF_H])
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cube([JETSON_PLATE_L, JETSON_PLATE_W, JETSON_PLATE_T]);
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// Four standoff columns
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for (x = [-JETSON_HOLE_PITCH/2, JETSON_HOLE_PITCH/2])
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for (y = [-JETSON_HOLE_PITCH/2, JETSON_HOLE_PITCH/2])
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translate([x, y, DECK_THICKNESS])
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cylinder(d=6, h=JETSON_STANDOFF_H);
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}
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// B01 M3 hole pattern (58×58 mm)
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for (x = [-JETSON_HOLE_PITCH/2, JETSON_HOLE_PITCH/2])
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for (y = [-JETSON_HOLE_PITCH/2, JETSON_HOLE_PITCH/2])
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translate([x, y, DECK_THICKNESS - 1])
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cylinder(d=JETSON_HOLE_D, h=JETSON_STANDOFF_H + JETSON_PLATE_T + 2);
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// Ventilation / cable routing slots in plate
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for (i = [-1, 0, 1])
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translate([i*25 - 10, -JETSON_PLATE_W/2 + 10,
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DECK_THICKNESS + JETSON_STANDOFF_H - 1])
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cube([20, JETSON_PLATE_W - 20, JETSON_PLATE_T + 2]);
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// Deck anchor holes (M3 × 4 corners of plate)
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for (x = [-JETSON_PLATE_L/2 + 8, JETSON_PLATE_L/2 - 8])
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for (y = [-JETSON_PLATE_W/2 + 8, JETSON_PLATE_W/2 - 8])
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translate([x, y, -1])
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cylinder(d=M3_D, h=DECK_THICKNESS + 2);
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}
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}
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}
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// ─── Bumper bracket ───────────────────────────────────────────────────────────
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// `front` = +1 (front) or -1 (rear)
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module bumper_bracket(front = 1) {
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y_pos = front * (FRAME_WIDTH/2);
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translate([0, y_pos, 0]) {
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difference() {
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union() {
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// Horizontal mounting rail plate
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translate([-BUMPER_L/2, front*(BUMPER_T/2), 0])
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cube([BUMPER_L, BUMPER_T, BUMPER_H]);
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// Vertical gussets at ends
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for (x = [-BUMPER_L/2 + 5, BUMPER_L/2 - BUMPER_T - 5])
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translate([x, front*(BUMPER_T), 0])
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cube([BUMPER_T, 20, BUMPER_H]);
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// Bumper tube saddle clamps (×3 evenly spaced)
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for (x = [-BUMPER_L/3, 0, BUMPER_L/3])
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translate([x - BUMPER_TUBE_OD/2 - 2,
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front*(BUMPER_T + 15),
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BUMPER_H - BUMPER_TUBE_OD/2 - 5])
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difference() {
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cube([BUMPER_TUBE_OD + 4, BUMPER_TUBE_OD/2 + 4, BUMPER_TUBE_OD + 4]);
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translate([BUMPER_TUBE_OD/2 + 2, -1, BUMPER_TUBE_OD/2 + 2])
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rotate([-90, 0, 0])
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cylinder(d=BUMPER_TUBE_OD, h=BUMPER_TUBE_OD/2 + 6);
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}
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}
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// Deck mounting holes (M5 × 6 along length)
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for (x = [-BUMPER_L/2 + 20, -BUMPER_L/6, BUMPER_L/6, BUMPER_L/2 - 20])
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translate([x, y_pos * 0.001, -1])
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cylinder(d=M5_D, h=BUMPER_H + 2);
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}
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}
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}
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// =============================================================================
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// DIMENSIONS / ANNOTATIONS (2D cross-section reference)
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// =============================================================================
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// Uncomment to render a side-view dimension guide:
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//
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// %translate([0, FRAME_WIDTH/2 + 30, 0]) {
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// color("Blue") {
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// cube([WHEELBASE, 1, 1]); // wheelbase span
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// translate([0,0,0]) text(str("Wheelbase: ", WHEELBASE, "mm"), size=12);
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// }
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// }
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