Highly Configurable Wheel (One Wheel To Rule Them All)

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Instructions for Highly Configurable Wheel For an easier-to-read and up-to-date version of the instructions, see my blog at [http://www.thefrankes.com/wp/?p=2674](http://www.thefrankes.com/wp/?p=2674). Here it is on github: [https://github.com/alexfranke/Highly-Configurable-Wheel](https://github.com/alexfranke/Highly-Configurable-Wheel) GET THE HIGHEST VERSION NUMBER! You can now find the older versions (for reference) in the git repository -- I'll be removing them from here so people don't get confused and download the wrong one. In the 1.33 update: JoeyC added some nice features here to support vanes. Thanks! In the 1.32 update: Added features suggested by JuliaDee: option for v-grooves instead of just, and flatted shaft option (with shaftFlatDiameter parameter). Check comments under Tread Parameters for how to use v-groove. Fixed a bug that cause outer nut trap to not render properly. Fixed a bug that didn't include shaft flats when rendered without a hub. In the 1.23 update: Fixed a bug that places the trapped nuts incorrectly, without considering shaft size. Added a parameter to offset the placement of these nuts. (Thanks, AUGuru, for both of these!) (240 downloads) In the 1.22 update: Added credits section to instructions. Fixed some argument/reference issues. Better knob foundation calculation/rendering. Fixed a number of bugs in knob sizing, including the bug indetected by TakeItAndRun, where the knobs sometimes extend into the interior of the wheel. (72 downloads) In the 1.2 update: Line style uses spokeWidth. Supports an inner circle using innerCircleDiameter. Cleaned up some unnecessary code. Added spokeInset to allow separate sized of rim and rest of wheel. Added captive nut option in hub. Added convexity of spoke area (inner and outer). In the 1.1 update: Hub now supports standard hobby servo mounting arms/horns. Renders flat. It's important to note that you can configure this wheel to such an extend that it may not be printable at home with extruded plastic printers. In these cases, services such as Shapeways could come in handy. ***Remember to see the website for the most up to date instructions. Tire Parameters Often wheels are built around the tires. In this section, specify the properties of the tires you're using, and this will define the diameter of the wheel. If you're using o-rings, the tireCSDiameter should be the cross-section diameter (CS) -- How thick is the tire rubber? tireCSDiameter: Cross-sectional diameter (CS) -- How thick is the tire rubber? tireID: Internal diameter (ID) -- How wide is the inside opening? tireStretch: Circumferential stretch percentage (usually 1 + 0-5%) -- How much to you want to stretch it to get it on? Rim properties The rim sits at at the outside of the spokes and supports the tires or added treads. Installed tires (such as o-rings, rubber bands, etc) are set into grooves carved out of therim, while trads are added onto it. Keep this in mind when you're using tires -- as an example, the rim height should not be smaller than the radius of o-ring tires. The rim also supports rotary encoder timing holes for wheel feedback. Use the padding parameters to adjust the location of those holes. See the compiler output for helpful information about the distance indicated by each timing hole. Directional timing holes will produce a second set of holes that are 90 degrees out of phase with the first. This allows you to stack sensors at the same location over the wheel instead of trying to position them along the circumference. Directional timing holes essentially double the resolution. You can also double resolution by looking for both rising and falling edges. rimHeight: The height of the rim portion of the wheel timingHoles: The number of timing holes to carve into the rim timingHoleInPad: The inside padding for the timing holes timingHoleMidPad: The middle padding if direction timing holes is selected timingHoleOutPad: The outside padding for the timing holes directional: A directional encoder renders two sets of slots, 90 deg out of phase Tread Parameters In this section, specify the properties of the tire tread you want to render. If you're using a wheel (e.g. o-ring, rubber bands, etc), then use either the "o-rings" or "slots" settings, which will cut a groove (or grooves) in the wheel rim to fit the tires. The othertread styles will render a tread pattern protruding out from the tire surface by the amount you specify in third part of "knobSize". Imagine the tire is mounted on a robot and facing straight at you. The "knobSize" parameter defines the size and shape of knobs in an [x,y,z] format, where x goes across the rim, y goes up and down along the perimeter of the wheel, and z protrudes out from the wheel toward you. The "staggerOffset" parameter allows you to stagger knobs across the tire by an amount you specify. Set this to zero if you want all the knobs lined up along the perimeter and aligned with the edges of the rim. "numberOfKnobs" specifies how many knobs there are across the tire, and "lineThickness" specifies how thick the lines are from "drawn" tire styles, such as "x", "cross", and "zigX". You can use these pameters together in creative ways -- for example to extend a single tread profile across the width of the tire, or to create a contiguous zig-zag. Finally, "radialTreadSets" defines how many sets of treads are rendered around the wheel. Each set contains two rows in order to create the staggered effect. Tread styles are: none: No tread is rendered cross: Each knob is the shape of a plus sign with the specified lineThickness o-rings: Grooves are cut into the rim to accept o-ring tires squares: Each knob is a rectangle, whose size is specified by knobSize spheres: Each knob is a smooth bump, whose size is specified by knobSize cylindersX: Each knob is a cylindrical shape running across the wheel, whose size is specified by knobSize cylindersY: Each knob is a cylindrical shape running along the perimiter of the wheel, whose size is specified by knobSize cylindersZ: Each knob is a cylindrical shape protruding from the surface of the wheel, whose size is specified by knobSize spikes: Each knob is a cone or spike protruding from the surface of the wheel, whose size is specified by knobSize