36 lines
1.4 KiB
OpenSCAD
36 lines
1.4 KiB
OpenSCAD
 
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// The whole 2026 hexapod: body (body.scad) plus six legs (leg.scad),
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// placed and posed like robot/Config.h. Robot frame: +X forward (switch
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// end), +Y left, +Z up, Z = 0 on the bottom plate's top face.
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use <body.scad>
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use <leg.scad>
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/* [Pose] */
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// "original" = the Fusion model's pose; "stand" = firmware stance
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// (Kinematics::neutralStance(): feet 130 mm out, 150 mm down).
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POSE_NAME = "stand"; // [original, stand]
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// Optional per-leg override, [coxa, femur, tibia] in degrees, legs 0..5.
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POSE_OVERRIDE = [];
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// Leg mounts from robot/Config.h: x, y, mount angle (0..2 right, 3..5 left).
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// Hexagon layout: corner legs 60 deg round from the mid legs.
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LEG_MOUNT = [[100, -50, -30], [0, -65, -90], [-100, -50, -150],
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[-100, 50, 150], [0, 65, 90], [100, 50, 30]];
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JOINT_PLANE_Z = 13.5; // femur/knee axes, halfway up the body cavity
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POSES = [["original", [0, 0, -90]], ["stand", [0, -1.2, -98.3]]];
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function base_pose() = [for (p = POSES) if (p[0] == POSE_NAME) p[1]][0];
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function leg_pose(i) = len(POSE_OVERRIDE) == 6 ? POSE_OVERRIDE[i] : base_pose();
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module robot() {
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body_assembly();
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for (i = [0:5]) {
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m = LEG_MOUNT[i];
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p = leg_pose(i);
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translate([m[0], m[1], JOINT_PLANE_Z])
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if (m[2] > 0) rotate([0, 0, m[2]]) leg(p);
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else mirror([0, 1, 0]) rotate([0, 0, -m[2]]) leg([-p[0], p[1], p[2]]);
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}
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}
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robot();
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