demo_leg.scad

use <lib/servos.scad>
use <leg_holder.scad>
use <leg.scad>
use <spacer.scad>
use <spring.scad>
use <sensor.scad>

$fn = 20;

ARMS_SPACING = 20;
ARM_THICKNESS = 3.8;

SERVO_HOLDER_HEIGHT = 11.5;
SERVO_HOLDER_WIDTH = 16;

BODY_HEIGHT = 65.0;

ARM_WIDTH = 20;

module mounted_arm() {

    translate([ 0, 0, ARM_THICKNESS / 2 ]) {
        rotate([ 0, 180, 0 ]) {
            color("black") main_arm();
        }

        translate([ 0, 0, ARMS_SPACING + ARM_THICKNESS]) {
            rotate([ 0, 180, 0 ]) {
                color("black") main_arm();
            }
        }

        translate([ 0, -33, ARMS_SPACING / 2 + ARM_THICKNESS / 2 ]) {
            rotate([ 0, 90, 90 ]) {
                color("white") spacer(ARMS_SPACING, ARM_WIDTH, ARM_THICKNESS);
            }
        }

        translate([ 0, 45, ARMS_SPACING / 2 + ARM_THICKNESS / 2 ]) {
            rotate([ 0, 90, -90 ]) {
                color("white") spacer(ARMS_SPACING, ARM_WIDTH, ARM_THICKNESS, true);
            }
        }
    }

    // Top arm
    union() {
        translate([ -69, -52, - ARM_THICKNESS]) {
            rotate([ 0, 0, 90]) {
                color("black") long_arm();

/*
                // Spring
                translate([0, -38, ARM_THICKNESS]) {
                    color("YELLOW")
                        spring();
                }
*/
            }

            translate([ 27, 0, 18 ]) {
                rotate([ 0, 90, 0 ]) {
                    color("white") spacer(ARMS_SPACING + ARM_THICKNESS * 2, 15, ARM_THICKNESS);
                }
            }
        }

        translate([ -42, -52, ARMS_SPACING + ARM_THICKNESS * 2]) {
            rotate([ 0, 0, 90]) {
                color("black") short_arm();

                // Spring
                rotate([0, 180, 0])
                translate([0, -11, 0]) {
                    color("YELLOW")
                        spring();
                }
            }
        }
    }

    // Bottom arm
    union() {
        translate([ -42, -12, ARMS_SPACING + ARM_THICKNESS * 2]) {
            rotate([ 0, 0, 90]) {
                color("black") short_arm();
            }
        }

        translate([ -42, -12, - ARM_THICKNESS]) {
            rotate([ 0, 0, 90]) {
                color("black") short_arm();
            }

            translate([ 0, 0, 18 ]) {
                rotate([ 0, 90, 0 ]) {
                    color("white") spacer(ARMS_SPACING + ARM_THICKNESS * 2, 15, ARM_THICKNESS);
                }
            }
        }
    }
}

module leg() {
    translate([-100, ARMS_SPACING + 8, 0]) {
        rotate([0, 0, -90]) {
            color("white") support();

            translate([SERVO_HOLDER_WIDTH - 27, -1, BODY_HEIGHT - SERVO_HOLDER_HEIGHT - 0.5]) {
                rotate([90, 180, 90]) {
                    %color("black") futabas3003();
                }
            }
        }
    }

    rotate([ -90, 0, 0]) {
        mounted_arm();
    }

    // Leg sensor
    translate([0, 14, -65]) {
        sensor_all();
    }
}

leg();