mangavalkandClaude Opus 5.5
91b5b99fd5
hardware/openscad/ rebuilds the broken Fusion models as OpenSCAD: body (top/bottom plate, standoffs, battery bay, switch), legs (coxa bracket, femur link, tibia, horn adapters, TPU socks, servo cables), the whole robot, and the remote (shell, lid, Nextion 3.5", JH-D400X-R4 sticks, 18650 UPS board, IMU, Teensy 4.0, USB-C breakout). Every part was checked by slicing against the original STEP solids; the original's bugs are fixed and listed in PLANNING.md. The robot now uses a hexagon leg layout (corner legs 60 deg round from the mid legs; the corner coxa brackets need turning on their splines). Physical limits from a collision sweep of the model are in Config.h: per-leg coxa limits and LEG_CLEARANCE_MM 56 (a leg is 55.2 mm wide at the joints); the sim API exports them (version 7). sim_smoke passes. Unity loads the model (export_unity.py -> Resources/OpenScadModel, OpenScadModel.cs builds a new rig in place of the old scene's robot). The PCB model's mounting holes now use the exact EasyEDA grid. README shows renders of both. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
105 lines
6.1 KiB
Markdown
105 lines
6.1 KiB
Markdown
# Main PCB (2026-11-13)
|
||
|
||
The PCB mounted inside the robot body, with the Teensy 3.6 peeking through
|
||
the hole in the top body. Teensy 3.6 carrier that distributes six servo
|
||
connectors (one per leg), an nRF24L01 radio, an MPU6050 IMU, a TO-252
|
||
regulator, a status LED and a 2-pin battery input.
|
||
|
||
## Files in this folder
|
||
|
||
| File | What it is |
|
||
|------|------------|
|
||
| `PCB_test_2026-11-13.json` | EasyEDA PCB source (editor v6.5.61). The authoritative board. |
|
||
| `OBJ_test.obj` + `.mtl` | EasyEDA 3D OBJ export. Just a slab shape with the four mounting holes; no components. Keep it because it round-trips with the EasyEDA source — but prefer `main-pcb.scad` for anything readable. |
|
||
| `main-pcb.scad` | Readable, parametric OpenSCAD model. Real board outline, 4 M3 mounting holes, and every major component as its own module on the correct side (see "Which side"). Component bodies have real-world dimensions; each module's local origin is the centre of its pad group so placements come straight from the pad bbox centres extracted from the EasyEDA JSON — no eyeballed positions. |
|
||
| `20190524_234512.jpg` | Photo of the **bottom** side: nRF24, IMU, 7805, ZENER, BATT JST and the six servo headers (JP1–JP6). |
|
||
| `20190524_234518.jpg` | Photo of the **top** side: Teensy 3.6 raised above the PCB on tall pin headers, USB powered, green POWER LED lit. |
|
||
| `top.png` | EasyEDA render of the **top** side (shows "Hexapod v1" title, spider silk, Teensy footprint, POWER + 510 Ω SMDs). |
|
||
| `bottom.png` | EasyEDA render of the **bottom** side (shows JP1–JP7 labels, NRF24L01, MPU, ZENER, 7805 footprints). This is the authoritative source for silkscreen names. |
|
||
|
||
## Which side each component is on
|
||
|
||
- **Top:** Teensy 3.6 (on 2×24 tall pin headers so it clears the IMU/radio underneath and pokes through the hole in the top body), POWER LED and its 511 Ω series resistor.
|
||
- **Bottom:** nRF24L01+ module (antenna hanging off the −Y board edge), GY-521 (MPU6050) IMU sitting directly under the Teensy, 7805 regulator, ZENER, 2-pin JST battery input, and the six servo headers JP1–JP6.
|
||
|
||
## Understanding the EasyEDA JSON
|
||
|
||
The JSON is EasyEDA's native PCB format: a `shape` array of tilde-separated
|
||
primitives. Here the board has **88** shape entries:
|
||
|
||
| Kind | Count | Field layout (after first `~`) |
|
||
|------|-------|--------------------------------|
|
||
| `TRACK` | 54 | width, layer, net, `x y x y …`, id, locked |
|
||
| `COPPERAREA` | 2 | id, layer, net, SVG path, … (one VCC pour, one GND pour) |
|
||
| `TEXT` | 9 | type, x, y, size, rotation, layer, …, string, path |
|
||
| `SVGNODE` | 1 | JSON of an SVG path (the 3D model placeholder) |
|
||
| `LIB` | 14 | x, y, `` package`NAME` ``, rotation, … (components) |
|
||
| `HOLE` | 4 | x, y, diameter (mm), id, locked |
|
||
| `VIA` | 4 | x, y, diameter, net, drill, id, locked |
|
||
|
||
**Layers** (`layers` key) follow EasyEDA's standard numbering: 1 TopLayer,
|
||
2 BottomLayer, 3/4 silk, 5/6 paste mask, 7/8 solder mask, 10 BoardOutline,
|
||
11 Multi-Layer, 13/14 assembly, 19 3DModel, Hole, DRCError.
|
||
|
||
### Units
|
||
|
||
Positions (and most sizes) are in **10-mil units = 0.254 mm**. The user
|
||
clearly laid out on a 1 mm grid: every component's x-offset from the
|
||
EasyEDA origin (4000, 3000) divides cleanly by 39.3700787 (10 mm per
|
||
10-mil unit). Hole and via **diameters** in this export are in millimetres
|
||
directly, which is standard EasyEDA practice.
|
||
|
||
### Coordinate frame
|
||
|
||
EasyEDA: +X right, +Y **down**, origin at `(4000, 3000)` (also the
|
||
top-left mounting hole). This OBJ export keeps the same X but flips Y to
|
||
negative.
|
||
|
||
`main-pcb.scad` uses +X right, +Y **up**, origin at the board's
|
||
**bottom-left corner**, so dimensions read the way you'd expect in CAD.
|
||
The conversion applied is:
|
||
|
||
```
|
||
x_mm = (x_eda - 3980.315) * 0.254
|
||
y_mm = (3330.7087 - y_eda) * 0.254
|
||
```
|
||
|
||
## Board summary
|
||
|
||
- Outline: 46.0 × 89.0 mm, black soldermask, 1.6 mm FR4 (the OBJ's 2.54 mm
|
||
"slab" is just the export; the physical board is standard).
|
||
- Four M3 clearance holes (⌀ 4 mm) at (5.00, 5.04), (40.78, 5.04),
|
||
(5.00, 84.00), (40.78, 84.00): hole grid 35.78 × 78.96 mm, centred at
|
||
(22.89, 44.52), slightly off the board centre (23, 44.5).
|
||
- Component placements (pad-group centres from the EasyEDA JSON — these
|
||
are the exact (x, y) the SCAD uses). All in mm from the board's
|
||
bottom-left corner.
|
||
|
||
| Component | Side | (x, y) mm | Notes |
|
||
|-----------|------|-----------|-------|
|
||
| Teensy 3.6 | top | (22.62, 44.79) | centre of 2×24 pin pattern; long axis along Y; USB at +Y, SD at −Y; raised 11 mm on tall headers |
|
||
| POWER LED (1206) | top | (33.00, 83.00) | |
|
||
| 510 Ω series resistor (2010) | top | (32.55, 78.72) | |
|
||
| "Hexapod v1" title silk | top | (6, 80.9) | top-silk text |
|
||
| nRF24L01+ | bottom | (28.00, 8.00) | header centre; module body + PCB antenna extend −Y and hang off the board edge |
|
||
| GY-521 (MPU6050) | bottom | (19.22, 44.73) | centre of 1×8 header; board extends +X; sits under the Teensy |
|
||
| 7805 regulator | bottom | (23.00, 79.00) | EasyEDA uses a `TO252` footprint but the physical board has a **through-hole 7805 in TO-220** bent flat into those pads |
|
||
| ZENER | bottom | (22.00, 67.00) | horizontal between its two pads |
|
||
| JP7 (2-pin JST, battery) | bottom | (15.00, 9.00) | |
|
||
| JP1 (5-pin JST-PH, servos) | bottom | ( 9.00, 69.00) | left column, top |
|
||
| JP2 | bottom | ( 9.00, 43.00) | left column, middle |
|
||
| JP3 | bottom | ( 9.00, 20.00) | left column, bottom |
|
||
| JP4 | bottom | (38.00, 69.00) | right column, top |
|
||
| JP5 | bottom | (38.00, 44.00) | right column, middle |
|
||
| JP6 | bottom | (38.00, 20.00) | right column, bottom |
|
||
|
||
Servo headers are 5-pin JST-PH footprints at **2.0 mm pitch** (total
|
||
span 8 mm), not 2.54 mm pin headers.
|
||
|
||
## Viewing
|
||
|
||
- OBJ: any 3D viewer (Fusion 360 will import it; `OBJ_test.mtl` sets a
|
||
dull-yellow material).
|
||
- SCAD: open `main-pcb.scad` in OpenSCAD; toggle `SHOW_COMPONENTS` and
|
||
`EXPLODE` to see parts lifted off the board.
|