From 4eb5b3aff4a8ae7250a23308c7f55fc0624b004e Mon Sep 17 00:00:00 2001
From: Jonathan Grizou <jonathan.grizou@gmail.com>
Date: Thu, 7 May 2015 00:56:45 +0200
Subject: [PATCH] change height of camera and raspberry on circular base,
 anticipating problem with robot movements

---
 hardware/poppy_ergo_jr.scad                   | 32 +++++++++++++++++++
 hardware/raspberry-scad                       |  2 +-
 .../raspberry_pi_Bplus_base_frame.scad        |  8 ++---
 3 files changed, 36 insertions(+), 6 deletions(-)

diff --git a/hardware/poppy_ergo_jr.scad b/hardware/poppy_ergo_jr.scad
index 6df4bed..f4b93eb 100644
--- a/hardware/poppy_ergo_jr.scad
+++ b/hardware/poppy_ergo_jr.scad
@@ -10,12 +10,17 @@ use <specific_frames/pen_holder_frame.scad>
 use <specific_frames/cylinder_head_frame.scad>
 use <specific_frames/lamp_head_frame.scad>
 use <specific_frames/raspberry_pi_Bplus_base_frame.scad>
+use <specific_frames/wheel_tools.scad>
 
 
+use <../../poppy-4wheels-mini/hardware/poppy_4wheels_mini.scad>
+
 use <robotis-scad/frames/side_to_side_frame.scad>
 use <robotis-scad/frames/three_ollo_to_horn_frame.scad>
 use <robotis-scad/frames/U_horn_to_horn_frame.scad>
 use <robotis-scad/frames/U_three_ollo_to_horn_frame.scad>
+use <robotis-scad/frames/U_three_ollo_frame.scad>
+
 
 use <MCAD/rotate.scad>
 
@@ -72,6 +77,8 @@ module add_end_tool(endTool) {
     cylinder_head_frame(length=F);
   if (endTool=="lamp_head")
     lamp_head_frame(length=F);
+  if (endTool=="simple_U")
+    U_three_ollo_frame(length=F);
 }
 
 // Testing
@@ -93,7 +100,32 @@ if (p==1) {
   }
 
   translate([200,0,0]) {
+    translate([0,-3*OlloSpacing,0])
+      circular_vertical_raspberry_pi_Bplus_base_frame_with_raspberry_board();
     poppy_ergo_jr(endTool="lamp_head");
   }
 
+
+  translate([300,0,0]) {
+    translate([0, - RaspberryPiBplusWidth/2 - RaspberryPiBplusFrameDistanceBoardToMotor - MotorLength + MotorAxisOffset, -MotorHeight/2-ollo_segment_thickness(1)]) {
+
+      raspberry_pi_Bplus_base_frame_with_wheels();
+
+      translate([0,RaspberryPiBplusWidth+RaspberryPiBplusFrameDistanceBoardToMotor,MotorHeight/2+ollo_segment_thickness(1)])
+        xl320();
+      translate([0,RaspberryPiBplusFrameLenght-RaspberryPiBplusWidth/2-RaspberryPiBplusFrameCameraDistFromEnd,0])
+        passive_wheel();
+
+      translate([-RaspberryPiBplusFrameWidth/2+MotorHeight/2,1.5*OlloSpacing,-MotorHeight/2])
+        rotate([0,-90,0])
+          add_wheel("lego");
+
+      translate([RaspberryPiBplusFrameWidth/2-MotorHeight/2,1.5*OlloSpacing,-MotorHeight/2])
+        rotate([0,90,0])
+          add_wheel("lego");
+    }
+
+    poppy_ergo_jr(endTool="simple_U");
+  }
+
 }
diff --git a/hardware/raspberry-scad b/hardware/raspberry-scad
index aa2cfdf..7f675ff 160000
--- a/hardware/raspberry-scad
+++ b/hardware/raspberry-scad
@@ -1 +1 @@
-Subproject commit aa2cfdf7c59910fe3b1adcbc85e9f4b2fb055f63
+Subproject commit 7f675ffda43a933c0da9ed2f07243b25d767e3c1
diff --git a/hardware/specific_frames/raspberry_pi_Bplus_base_frame.scad b/hardware/specific_frames/raspberry_pi_Bplus_base_frame.scad
index 47ed95c..694c567 100644
--- a/hardware/specific_frames/raspberry_pi_Bplus_base_frame.scad
+++ b/hardware/specific_frames/raspberry_pi_Bplus_base_frame.scad
@@ -76,7 +76,7 @@ module raspberry_pi_Bplus_base_frame_with_raspberry_board(boardHeight=5, holeTyp
 
 }
 
-module circular_vertical_raspberry_pi_Bplus_base_frame(radius=CircularBaseFrameRadius, boardHeight=5, boardDistFromCenter=7+MotorHeight/2+2*OlloLayerThickness, cameraDistFromCenter=12+MotorLength-MotorAxisOffset, nLayer=1) {
+module circular_vertical_raspberry_pi_Bplus_base_frame(radius=CircularBaseFrameRadius, boardHeight=0, boardDistFromCenter=7+MotorHeight/2+2*OlloLayerThickness, cameraDistFromCenter=12+MotorLength-MotorAxisOffset, nLayer=1) {
 
   rotate([0,0,180])
     circular_base_frame(radius=CircularBaseFrameRadius, withHole=true);
@@ -89,18 +89,16 @@ module circular_vertical_raspberry_pi_Bplus_base_frame(radius=CircularBaseFrameR
         elliptic_segment(RaspberryPiBplusWidth, width=4*CircularBaseFrameRadius, heigth=4*CircularBaseFrameRadius, wallThickness=CircularBaseFrameRadius);
   }*/
   translate([0,cameraDistFromCenter,-MotorHeight/2])
-    add_raspberry_camera_holder();
+    add_raspberry_camera_holder(boardHeight);
 }
 
-module circular_vertical_raspberry_pi_Bplus_base_frame_with_raspberry_board(radius=CircularBaseFrameRadius, boardHeight=5, boardDistFromCenter=7+MotorHeight/2+2*OlloLayerThickness, cameraDistFromCenter=12+MotorLength-MotorAxisOffset, nLayer=1) {
+module circular_vertical_raspberry_pi_Bplus_base_frame_with_raspberry_board(radius=CircularBaseFrameRadius, boardHeight=0, boardDistFromCenter=7+MotorHeight/2+2*OlloLayerThickness, cameraDistFromCenter=12+MotorLength-MotorAxisOffset, nLayer=1) {
 
   circular_vertical_raspberry_pi_Bplus_base_frame(radius, boardHeight, boardDistFromCenter, cameraDistFromCenter, nLayer);
 
   rotate([-90,0,180])
     translate([0,-boardHeight-RaspberryPiBplusWidth/2+MotorHeight/2,boardDistFromCenter])
       add_raspberry_pi_Bplus();
-
-
 }