//chasis robot laberinto (90,105,50)

//altura tornillo
hto=10;
//radio tornillo
rto=1.7;

//altura cabeza tornillo
hct=2;
//radio cabeza tornillo
rct=3;

//altura tuerca
htu=2.7;
//radio tuerca
rtu=3.4;

//diferencia de encaje
D=0.4;

chasis(90,70,50,2,10);

module chasis(x,y,z,grueso,radio)
{

	difference()
	{

//caja base
		translate([radio, x/2,0])
		union()color("red")
		{
			minkowski()
			{
					
		 		cube([x-2*radio,y-2*radio,z/2], center = false);
		 		cylinder(r=radio,h=z/2,$fn=100);
			}
			translate([x/2-radio, 0, 0]) 
			cylinder(r=x/2,h=z,$fn=100);
		}

//caja restada
			translate([radio, x/2, 2*grueso]) color("green")
			{
				minkowski()
				{
			 		cube([x-2*radio,y-2*radio,z/2], center = false);
			 		cylinder(r=radio-grueso,h=z/2,$fn=100);
				}
			}
	
			translate([x/2, x/2,2*grueso])  color("green")
			cylinder(r=x/2-grueso,h=z,$fn=100);

//agujero tornillo bola
			color("Gray")
			{
				translate([x/2,x/4,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([x/2,x/4,4-hct])cylinder(h =hct+1, r=rct,$fn=100);
			}
//agujeros tornillos soporte sensor lateral
			color("grey")
			{
				translate([29,90,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([29,90,-1])cylinder(h =hct+1, r=rct,$fn=100);
			
				translate([29,50,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([29,50,-1])cylinder(h =hct+1, r=rct,$fn=100);
			}		
//agujeros tornillos soporte sensor frontal
			color("grey")
			{
				translate([25,37,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([25,37,-1])cylinder(h =hct+1, r=rct,$fn=100);
	
				translate([65,37,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([65,37,-1])cylinder(h =hct+1, r=rct,$fn=100);
			}	
//agujeros tornillos soporte motor dereccho
			color("Gray")
			{
				translate([37,86.5,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([37,86.5,4-hct])cylinder(h =hct+1, r=rct,$fn=100);
		
				translate([37,58.5,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([37,58.5,4-hct])cylinder(h =hct+1, r=rct,$fn=100);
		
				translate([22,86.5,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([22,86.5,4-hct])cylinder(h =hct+1, r=rct,$fn=100);
		
				translate([22,58.5,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([22,58.5,4-hct])cylinder(h =hct+1, r=rct,$fn=100);
			}
//agujeros tornillos soporte motor izquierdo	
			color("Gray")
			{
				translate([53,86.5,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([53,86.5,4-hct])cylinder(h =hct+1, r=rct,$fn=100);
		
				translate([53,58.5,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([53,58.5,4-hct])cylinder(h =hct+1, r=rct,$fn=100);
		
				translate([68,86.5,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([68,86.5,4-hct])cylinder(h =hct+1, r=rct,$fn=100);
		
				translate([68,58.5,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([68,58.5,4-hct])cylinder(h =hct+1, r=rct,$fn=100);
			}
//agujero sensor lateral
			color("blue")
			translate([-10,45-D,20-D])
			cube([20,50+D,24+D], center = false);

//agujero sensor frontal
			color("blue")
			translate([20-D/2,-5,20-D])
			cube([50+D,20,24+D], center = false);

//agujero rueda derecha
			color("orange")
			translate([grueso,50,-10])
			cube([15,45,20], center = false);

//agujero rueda izquierda
			color("orange")
			translate([73,50,-10])
			cube([15,45,20], center = false);	

//agujero cables
			translate([x/2-5,93,-3]) 
			union()	color("orange")
			{
			cube(size = [10,10,10], center = false);
			translate([10,5,0]) 
				cylinder(h = 10, r=5,$fn=100);
			translate([0,5,0])
				cylinder(h = 10, r=5,$fn=100);
			}
	
			translate([7,38,-3]) 
			union()	color("orange")
			{
			cube(size = [5,10,10], center = false);
			translate([5,5,0]) 
				cylinder(h = 10, r=5,$fn=100);
			translate([0,5,0])
				cylinder(h = 10, r=5,$fn=100);
			}
	
			translate([78,38,-3]) 
			union()	color("orange")
			{
			cube(size = [5,10,10], center = false);
			translate([5,5,0]) 
				cylinder(h = 10, r=5,$fn=100);
			translate([0,5,0])
				cylinder(h = 10, r=5,$fn=100);
			}

//respiraderos
			translate([20,100,20]) color("blue")
			cube(size = [50,10,5], center = false);
	
			translate([20,100,30]) color("blue")
			cube(size = [50,10,5], center = false);
	
			translate([20,100,40]) color("blue")
			cube(size = [50,10,5], center = false);

//agujeros tornillos soporte placa
			color("grey")
			{
				translate([61,90,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([61,90,-1])cylinder(h =hct+1, r=rct,$fn=100);
			
				translate([61,50,-3])cylinder(h =hto, r=rto,$fn=100);
				translate([61,50,-1])cylinder(h =hct+1, r=rct,$fn=100);
			}	

	}

//soportes tapa
			color("white")
			{
				translate([10,30,0])
					difference()
					{
						cylinder(r=5,h=z,$fn=100);
						translate([0,0,3*grueso])
							cylinder(r=1.5,h=z-2*grueso,$fn=100);
					}

				translate([10,100,0])
					difference()
					{
						cylinder(r=5,h=z,$fn=100);
						translate([0,0,3*grueso])
							cylinder(r=1.5,h=z-2*grueso,$fn=100);
					}
				translate([80,30,0])
					difference()
					{
						cylinder(r=5,h=z,$fn=100);
						translate([0,0,3*grueso])
							cylinder(r=1.5,h=z-2*grueso,$fn=100);
					}
				translate([80,100,0])
					difference()
					{
						cylinder(r=5,h=z,$fn=100);
						translate([0,0,3*grueso])
							cylinder(r=1.5,h=z-2*grueso,$fn=100);
					}
			}

//palo de sugeccion
			color("red")
			translate([x/2-1,0,0]) color("blue")
			cube(size = [2,2,z], center = false);

}