todo: arm spacers and elbow screw holes

todo: arm spacers and elbow screw holes

use <StepMotor_28BYJ-48.scad>;
use <Hub_28BYJ-48.scad>;
include <Bearing_6807-2RS.scad>;

// global rendering parameters
$fn = 24;

// library examples
// translate([100, 100, 10]) { StepMotor28BYJ(); }
// stepperHub(10, 7, 6, 3.1, 1.5, 2.75);
//translate([0, 0, 8]) bearing6807_2RS();
// bearingInnerStep(bearing6807_2RS_d - iFitAdjust, 2, 2);
//shoulderBase(2, 55, 9.1, 3.1);

// interference fit adjustment for 3D printer
iFitAdjust = .4;

// shoulder base parameters
shoulderBaseHeight = 3;
shoulderBaseDiameter = 55;
shaftBossDiameter = 10;
mountScrewDiameter = 3.1;
bearingStep = 2; // size in mm of bearing interface step
// joint parameters
hubHeight = 10;
hubRadius = 7;
shaftHeight = 6;
shaftRadius = 3.1;
setScrewRadius = 1.5;
setScrewHeight = 2.75;
spokeWidth = 3;
spokes = 6;
screwTabs = 4;
screwTabHeight = 4;
armLength = 100;
// misc
baseDeckExtension = 60;
boundingBox = 8;
boundingBoxHalf = boundingBox / 2;
// 8 is distance from shaft center to screw center on x axis
// 35 is screw center to screw center on y axis
shaftCenterToMountHoldCenterXAxis = 8;
mountHoleCenterToMountHoleCenter = 35;
leadScrewDiameter = 8;
// forearm
forearmLength = 75;

/* Pieces in this model
** Shoulder:
*** Base plate
*** Top plate
*** Lower arm
*** Upper arm
** Forearm:
*** ?
** Hand:
*** ?
*/

// shoulder base
color([.7, .7, 1])
    shoulderBase(bearing6807_2RS_d - iFitAdjust, bearing6807_2RS_D + iFitAdjust, shoulderBaseHeight, shoulderBaseDiameter, shaftBossDiameter, mountScrewDiameter);
// shoulder lower stepper
rotate([0, 180, 0])
    translate([-8, 0, 10])
        StepMotor28BYJ();
// lower shoulder bearing
translate([0, 0, shoulderBaseHeight + bearingStep])
    %bearing6807_2RS();
// shoulder top
color([.6, .6, .9])
    translate([0, 0, 2 * shoulderBaseHeight + (4 * bearing6807_2RS_B) + (8 * bearingStep)])
    rotate([180, 0, 0])
        shoulderBase(bearing6807_2RS_d - iFitAdjust, bearing6807_2RS_D + iFitAdjust, shoulderBaseHeight, shoulderBaseDiameter, shaftBossDiameter, mountScrewDiameter);
// upper shoulder bearing
translate([0, 0, shoulderBaseHeight + (3 * bearing6807_2RS_B) + (7 * bearingStep)])
    %bearing6807_2RS();
// shoulder upper stepper
rotate([0, 0, 180])
    translate([-8, 0, 10 + 2 * shoulderBaseHeight + (4 * bearing6807_2RS_B) + (8 * bearingStep)])
        StepMotor28BYJ();
// shoulder spacers
color([.7, .6, .2])
shoulderSpacers(bearing6807_2RS_D + iFitAdjust, 0 * shoulderBaseHeight + (4 * bearing6807_2RS_B) + (8 * bearingStep));
color([.7, .6, .2])
translate([baseDeckExtension / 3, 0, 0])
shoulderSpacers(bearing6807_2RS_D + iFitAdjust, 0 * shoulderBaseHeight + (4 * bearing6807_2RS_B) + (8 * bearingStep));
// end shoulder

// lower arm including the shoulder - arm joint
//render()
color([1, .7, .7])
    translate([0, 0, shoulderBaseHeight + bearing6807_2RS_B])
        armLower(bearing6807_2RS_D + iFitAdjust, bearingStep, bearingStep, hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, screwTabs, screwTabHeight, armLength);
// upper arm
//render()
color([.9, .7, .7])
    translate([0, 0, shoulderBaseHeight + ( 2*bearing6807_2RS_B) + (12 * bearingStep) - (.5 * bearingStep)])
        rotate([180, 0, 0])
            armLower(bearing6807_2RS_D + iFitAdjust, bearingStep, bearingStep, hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, screwTabs, screwTabHeight, armLength);
// elbow joint pieces
// lower bearing
translate([-armLength, 0, shoulderBaseHeight + bearing6807_2RS_B + bearingStep])
    %bearing6807_2RS();
// arm upper stepper
translate([-armLength + 8, 0, shoulderBaseHeight + ( 3*bearing6807_2RS_B) + (16 * bearingStep) - (.5 * bearingStep)])
    rotate([0, 0, 180])
        StepMotor28BYJ();
// arm lower stepper
rotate([0, 180, 0])
    translate([armLength - 8, 0, bearingStep * 2])
        StepMotor28BYJ();
// arm spacers
color([.6, .6, .3])
    armSpacers(bearing6807_2RS_D + iFitAdjust, 0 * shoulderBaseHeight + (4 * bearing6807_2RS_B) + (8 * bearingStep));
// end arm

// forearm pieces
// lower
color([.1, .7, .1])
translate([-armLength, 0, shoulderBaseHeight + (bearing6807_2RS_B * 2) + (4 *bearingStep)])
//translate([-armLength, 0, shoulderBaseHeight + (bearing6807_2RS_B * 2) + (14 *bearingStep)])
    forearmLower(bearing6807_2RS_d - iFitAdjust, bearing6807_2RS_D + iFitAdjust, bearingStep, bearingStep, hubHeight + (bearing6807_2RS_B / 2) + (bearingStep/2), hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, forearmLength, boundingBox);
// upper
color([.2, .8, .2])
translate([-armLength, 0, shoulderBaseHeight + (bearing6807_2RS_B * 2) + (4 *bearingStep)])
    rotate([180, 0, 0])
        forearmLower(bearing6807_2RS_d - iFitAdjust, bearing6807_2RS_D + iFitAdjust, bearingStep, bearingStep, hubHeight + (bearing6807_2RS_B / 2) + (bearingStep/2), hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, forearmLength, boundingBox);
// forearm upper bearing
translate([-armLength, 0, shoulderBaseHeight + (2 * bearing6807_2RS_B) + (7 * bearingStep)])
    %bearing6807_2RS();
// forearm spacers

/*
deprecated
render()
    translate([-armLength, 0, shoulderBaseHeight + bearing6807_2RS_B + (2* bearingStep)])
        armJointSpacer(bearing6807_2RS_d - iFitAdjust, bearing6807_2RS_D + iFitAdjust, bearingStep, shaftBossDiameter, mountScrewDiameter);
*/

//bearingInnerStep(bearing6807_2RS_d - iFitAdjust, 2, 2);
module bearingInnerStep(bearingID, stepHeight, stepWidth) {
    difference() {
        union() {
            // this fits inside of the bearing
            cylinder(h = stepHeight * 2, d = bearingID);
            // this rests on the bearing inner lip
            cylinder(h = stepHeight, d = bearingID + stepWidth);
        }
        // remove center
        cylinder(h = stepHeight * 2, d = bearingID - (stepWidth * 2));
    }
}

//translate([0, 0, 12]) bearingOuterStep(bearing6807_2RS_D + iFitAdjust, 2, 2);
module bearingOuterStep(bearingOD, stepHeight, stepWidth) {
    //render(convexivity = 3)
    difference() {
        cylinder(h = stepHeight * 2, d = bearingOD + stepWidth);
        cylinder(h = stepHeight * 2, d = bearingOD - stepWidth);
        cylinder(h = stepHeight, d = bearingOD);
    }
}

module shoulderSpacers(bearingOD, screwSpacerHeight) {
    union() {
        // screw holes for joining to arm
        rotate([0, 0, -30])
        radial_array_partial(vec = [0, 0, 1], n = 6, 2)
            translate([bearingOD / 2 + (setScrewRadius * 8), 0, shoulderBaseHeight * 1.0])
        difference() {
            union () {
                cylinder(h = screwSpacerHeight, r = setScrewRadius * 2);

                }
            cylinder(h = screwTabHeight, r = setScrewRadius);
        }
    }
}

module armSpacers(bearingOD, screwSpacerHeight) {
    union() {
        // screw holes for joining to arm
        radial_array(vec = [0, 0, 1], n = 4)
            translate([bearingOD / 2 + (setScrewRadius * 2), 0, shoulderBaseHeight + bearing6807_2RS_B + 2 * bearingStep])
        difference() {
            union () {
                cylinder(h = bearing6807_2RS_B * 2 + 4 * bearingStep, r = setScrewRadius * 2);

                }
            cylinder(h = bearing6807_2RS_B * 2 + 4 * bearingStep, r = setScrewRadius);
        }
        // TODO: put in spacers along arm, make sure holes exist in arm
        translate([- armLength, 0, 0])
        rotate([0, 0, -30])
        radial_array_partial(vec = [0, 0, 1], n = 4, 2)
            translate([bearingOD / 2 + (setScrewRadius * 2), 0, shoulderBaseHeight + bearing6807_2RS_B + 2 * bearingStep])
        difference() {
            union () {
                cylinder(h = bearing6807_2RS_B * 2 + 4 * bearingStep, r = setScrewRadius * 2);

                }
            cylinder(h = bearing6807_2RS_B * 2 + 4 * bearingStep, r = setScrewRadius);
        }
    }
}

// armJointSpacer(bearing6807_2RS_D - iFitAdjust, bearing6807_2RS_D + iFitAdjust, bearingStep, shaftBossDiameter, mountScrewDiameter);
module armJointSpacer(bearingID, bearingOD, bearingStep, shaftBossDiameter, mountScrewDiameter) {
    union() {
        difference() {
            cylinder(h = bearingStep * 2, d = bearingOD + bearingStep);
            cylinder(h = bearingStep * 2, d = bearingID);
        }
        translate([0, 0, bearingStep * 2])
                bearingInnerStep(bearingID, bearingStep, bearingStep);
        // screw holes for joining to arm
        radial_array(vec = [0, 0, 1], n = screwTabs)
                translate([bearingOD / 2 + (setScrewRadius * 2), 0, (2 * bearingStep) - screwTabHeight])
                    difference() {
                        union () {
                            cylinder(h = screwTabHeight, r = setScrewRadius * 2);
                            translate([-2 * setScrewRadius, - 2 * setScrewRadius, 0])
                                cube([setScrewRadius * 2, 4 * setScrewRadius, screwTabHeight], center = false);
                        }
                        cylinder(h = screwTabHeight, r = setScrewRadius);
                    }
    }
}

//shoulderBase(2, 55, 9.1, 3.1);
// WARNING: has some hard-coded non-parametric values in here!
module shoulderBase(bearingID, bearingOD, shoulderBaseHeight, shoulderBaseDiameter, shaftBossDiameter, mountScrewDiameter) {
    mountHoleDepth = shoulderBaseHeight;

    //render(convexivity = 3)
    difference() {
        union () {
            cylinder(h = shoulderBaseHeight, d = shoulderBaseDiameter);
            translate([0, 0, shoulderBaseHeight])
                bearingInnerStep(bearing6807_2RS_d - iFitAdjust, bearingStep, bearingStep);
            // 40 is the length of deck extension from the baseplate in x
            translate([0, -shoulderBaseDiameter / 2, 0])
                cube([baseDeckExtension, shoulderBaseDiameter, shoulderBaseHeight], center = false);
        }
        // motor shaft hole
        cylinder(h = shoulderBaseHeight + (bearingStep * 2), d = shaftBossDiameter);
        // mounting holes

        translate([shaftCenterToMountHoldCenterXAxis, mountHoleCenterToMountHoleCenter/2, 0])
            cylinder(h = mountHoleDepth, d = mountScrewDiameter);
        translate([shaftCenterToMountHoldCenterXAxis, -mountHoleCenterToMountHoleCenter/2, 0])
            cylinder(h = mountHoleDepth, d = mountScrewDiameter);
        // lead screw hole
        translate([baseDeckExtension - (leadScrewDiameter * 1.5), 0, 0])
            cylinder(h = shoulderBaseHeight, d = leadScrewDiameter + (leadScrewDiameter / 2));
        // upper to lower spacer screw holes
        rotate([0, 0, -30])
            radial_array_partial(vec = [0, 0, 1], n = 6, 2)
                translate([bearingOD / 2 + (setScrewRadius * 8), 0, shoulderBaseHeight * 0])
                    cylinder(h = screwTabHeight, r = setScrewRadius);
           translate([baseDeckExtension / 3, 0, 0])
            rotate([0, 0, -30])
            radial_array_partial(vec = [0, 0, 1], n = 6, 2)
                translate([bearingOD / 2 + (setScrewRadius * 8), 0, shoulderBaseHeight * 0])
                    cylinder(h = screwTabHeight, r = setScrewRadius);
    }
    // NOTE: need to add LM8UU mounts
}

module armLower(bearingOD, stepHeight, stepWidth, hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, screwTabs, screwTabHeight, armLength) {
    armWidth = bearingOD / 2;
    render(convexivity = 3)
    difference() {
    union() {
        armInnerJoint(bearingOD, bearingStep, bearingStep, hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, screwTabs, screwTabHeight);
        translate([-armLength, 0, 0])
            armOuterJointBase(bearingOD, bearingStep, setScrewRadius, screwTabs, screwTabHeight);
        difference() {
            translate([-armLength, -armWidth / 2, 0])
                cube([armLength, armWidth, bearingStep * 2], center=false);
            cylinder(h = bearingStep * 2, d = bearingOD);
            translate([-armLength, 0, 0])
                cylinder(h = bearingStep * 2, d = bearingOD);
            translate([-armLength + (bearingOD / 2) + (boundingBox / 2), -(armWidth / 2) + boundingBoxHalf, 0])
                cube([armLength - bearingOD - (boundingBox + boundingBoxHalf), armWidth - boundingBox, bearingStep * 2], center = false);
        }
        difference() {
            intersection() {

                translate([-armLength + (bearingOD / 2) + (boundingBox / 2), -(armWidth / 2) + boundingBoxHalf, 0])
                    cube([armLength - bearingOD - boundingBox, armWidth - boundingBox, bearingStep * 2], center = false);
                for (i = [ bearingOD / 2 - boundingBoxHalf: armWidth : armLength]) {
                    translate([ -i, 0, bearingStep])
                        rotate([0, 0, 45])
                            cube([spokeWidth, armWidth + boundingBoxHalf, bearingStep * 2], center = true);
                    translate([ -i, 0, bearingStep])
                        rotate([0, 0, -45])
                            cube([spokeWidth, armWidth + boundingBoxHalf, bearingStep * 2], center = true);
                }
            }

        }
   }
           // screw holes for joining to upper
        radial_array(vec = [0, 0, 1], n = screwTabs)
                translate([bearingOD / 2 + (setScrewRadius * 2), 0, (2 * stepHeight) - screwTabHeight])
                       cylinder(h = screwTabHeight, r = setScrewRadius);
   }
}

module armOuterJointBase(bearingOD, bearingStep, setScrewRadius, screwTabs, screwTabHeight) {
    mountHoleDepth = bearingStep * 2;

    union() {
        difference() {
            union() {
                translate([0, 0, -(bearingStep * 2)])
                    cylinder(h = bearingStep * 2, d = bearingOD + bearingStep);
                translate([0, 0, bearingStep * 2])
                    rotate([0, 180, 0])
                        bearingOuterStep(bearingOD, bearingStep, bearingStep);
            }
            // motor shaft hole
            translate([0, 0, -(bearingStep * 2)])
                cylinder(h = shoulderBaseHeight + (bearingStep * 2), d = shaftBossDiameter);
            // mounting holes
            translate([0, 0, -(bearingStep * 2)]) {
                translate([shaftCenterToMountHoldCenterXAxis, mountHoleCenterToMountHoleCenter/2, 0])
                cylinder(h = mountHoleDepth, d = mountScrewDiameter);
                translate([shaftCenterToMountHoldCenterXAxis, -mountHoleCenterToMountHoleCenter/2, 0])
                cylinder(h = mountHoleDepth, d = mountScrewDiameter);
            }
        }

    }
}

//armInnerJoint(bearing6807_2RS_D + iFitAdjust, bearingStep, bearingStep, hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, screwTabs, screwTabHeight);
module armInnerJoint(bearingOD, stepHeight, stepWidth, hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, screwTabs, screwTabHeight) {
    //translate([0, 0, hubHeight - (2 * stepHeight)])
    difference() {
        union() {
         difference() {
            cylinder(h = bearingStep * 2, d = bearingOD + (setScrewRadius * 6));
            cylinder(h = bearingStep * 2, d = bearingOD);
//            translate([0, -bearingOD, 0])
//                cube([bearingOD, bearingOD * 2, bearingStep * 2]);
        }
        bearingOuterStep(bearingOD, stepHeight, stepWidth);
        // hub
        translate([0, 0, -(hubHeight - (2 * stepHeight))])
            stepperHub(hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight);
        // spokes
        radial_array(vec=[0, 0, 1], n = spokes)
                translate([hubRadius - (stepWidth / 2), -(spokeWidth / 2), stepHeight])
                    cube([(bearingOD / 2) - hubRadius, spokeWidth, stepHeight], center = false);
        // screw tabs for joining to upper
        radial_array(vec = [0, 0, 1], n = screwTabs)
                translate([bearingOD / 2 + (setScrewRadius * 2), 0, (2 * stepHeight) - screwTabHeight])

                        union () {
                            cylinder(h = screwTabHeight, r = setScrewRadius * 2);
                            translate([-2 * setScrewRadius, - 2 * setScrewRadius, 0])
                                cube([setScrewRadius * 2, 4 * setScrewRadius, screwTabHeight], center = false);
                        }

                    }
        // screw holes for joining to upper
        radial_array(vec = [0, 0, 1], n = screwTabs)
                translate([bearingOD / 2 + (setScrewRadius * 2), 0, (2 * stepHeight) - screwTabHeight])
                       cylinder(h = screwTabHeight, r = setScrewRadius);
    }
}

module forearmLower(bearingID, bearingOD, stepHeight, stepWidth, hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, forearmLength, boundingBox) {
    armWidth = bearingOD / 2;

    rotate([180, 0, 0]) union() {
        boundingBoxHalf = boundingBox / 2;
        difference() {
            cylinder(h = bearingStep * 2, d = bearingOD + bearingStep);
            cylinder(h = bearingStep * 2, d = bearingID - (2 * bearingStep));
        }
        translate([0, 0, bearingStep * 2])
            bearingInnerStep(bearingID, bearingStep, bearingStep);
        // screw holes for joining to arm
        radial_array(vec = [0, 0, 1], n = screwTabs)
                translate([bearingOD / 2 + (setScrewRadius * 2), 0, (2 * bearingStep) - screwTabHeight])
                    difference() {
                        union () {
                            cylinder(h = screwTabHeight, r = setScrewRadius * 2);
                            translate([-2 * setScrewRadius, - 2 * setScrewRadius, 0])
                                cube([setScrewRadius * 2, 4 * setScrewRadius, screwTabHeight], center = false);
                        }
                        cylinder(h = screwTabHeight, r = setScrewRadius);
                    }
        // hub
        translate([0, 0, hubHeight]) rotate([180, 0, 0])
            stepperHub(hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight);
        // spokes
        radial_array(vec=[0, 0, 1], n = spokes)
                translate([hubRadius - (stepWidth / 2), -(spokeWidth / 2), 0])
                    cube([(bearingOD / 2) - hubRadius, spokeWidth, 2 *stepHeight], center = false);
        // forearm extension
             difference() {
            translate([-forearmLength, -armWidth / 2, 0])
                cube([forearmLength, armWidth, bearingStep * 2], center=false);
            cylinder(h = bearingStep * 2, d = bearingOD);
            translate([-forearmLength, 0, 0])
                cylinder(h = bearingStep * 2, d = bearingOD / 2);
                 // 4 on next line comes from dividing the bearingOD on the above line
            translate([-forearmLength + (bearingOD / 4) + (boundingBox / 2), -(armWidth / 2) + boundingBoxHalf, 0])
                cube([forearmLength - (bearingOD/2) - (boundingBox + boundingBoxHalf), armWidth - boundingBox, bearingStep * 2], center = false);
        }

            intersection() {

                translate([-forearmLength + boundingBox * 2, -(armWidth / 2) + boundingBoxHalf, 0])
                    cube([forearmLength - (bearingOD / 2) - boundingBox, armWidth - boundingBox, bearingStep * 2], center = false);
                for (i = [ bearingOD / 2 - boundingBoxHalf: armWidth : forearmLength]) {
                    translate([ -i, 0, bearingStep])
                        rotate([0, 0, 45])
                            cube([spokeWidth, armWidth + boundingBoxHalf, bearingStep * 2], center = true);
                    translate([ -i, 0, bearingStep])
                        rotate([0, 0, -45])
                            cube([spokeWidth, armWidth + boundingBoxHalf, bearingStep * 2], center = true);
                }
            }

    }
}

module copy_mirror(vec=[0,1,0]) {
    children();
    mirror(vec)
        children();
}

module radial_array(vec = [0,0,1], n = 4) {
    for ( i = [0 : n - 1] )
    {
        rotate( i * 360 / n, vec)
            children();
    }
}

module radial_array_partial(vec = [0,0,1], n = 4, j = 2) {
    for ( i = [0 : n - 1] )
    {
        if (i < j)
            rotate( i * 360 / n, vec)
                children();
    }
}

use <StepMotor_28BYJ-48.scad>;
use <Hub_28BYJ-48.scad>;
include <Bearing_6807-2RS.scad>;

// global rendering parameters
$fn = 24;

// library examples
// translate([100, 100, 10]) { StepMotor28BYJ(); }
// stepperHub(10, 7, 6, 3.1, 1.5, 2.75);
//translate([0, 0, 8]) bearing6807_2RS();
// bearingInnerStep(bearing6807_2RS_d - iFitAdjust, 2, 2);
//shoulderBase(2, 55, 9.1, 3.1);

// interference fit adjustment for 3D printer
iFitAdjust = .4;

// shoulder base parameters
shoulderBaseHeight = 3;
shoulderBaseDiameter = 55;
shaftBossDiameter = 10;
mountScrewDiameter = 3.1;
bearingStep = 2; // size in mm of bearing interface step
// joint parameters
hubHeight = 10;
hubRadius = 7;
shaftHeight = 6;
shaftRadius = 3.1;
setScrewRadius = 1.5;
setScrewHeight = 2.75;
spokeWidth = 3;
spokes = 6;
screwTabs = 4;
screwTabHeight = 4;
armLength = 100;
// misc
baseDeckExtension = 60;
boundingBox = 8;
boundingBoxHalf = boundingBox / 2;
// 8 is distance from shaft center to screw center on x axis
// 35 is screw center to screw center on y axis
shaftCenterToMountHoldCenterXAxis = 8;
mountHoleCenterToMountHoleCenter = 35;
leadScrewDiameter = 8;
// forearm
forearmLength = 75;

/* Pieces in this model
** Shoulder:
*** Base plate
*** Top plate
*** Lower arm
*** Upper arm
** Forearm:
*** ?
** Hand:
*** ?
*/

// shoulder base
color([.7, .7, 1])
    shoulderBase(bearing6807_2RS_d - iFitAdjust, bearing6807_2RS_D + iFitAdjust, shoulderBaseHeight, shoulderBaseDiameter, shaftBossDiameter, mountScrewDiameter);
// shoulder lower stepper
rotate([0, 180, 0])
    translate([-8, 0, 10])
        StepMotor28BYJ();
// lower shoulder bearing
translate([0, 0, shoulderBaseHeight + bearingStep])
    %bearing6807_2RS();
// shoulder top
color([.6, .6, .9])
    translate([0, 0, 2 * shoulderBaseHeight + (4 * bearing6807_2RS_B) + (8 * bearingStep)])
    rotate([180, 0, 0])
        shoulderBase(bearing6807_2RS_d - iFitAdjust, bearing6807_2RS_D + iFitAdjust, shoulderBaseHeight, shoulderBaseDiameter, shaftBossDiameter, mountScrewDiameter);
// upper shoulder bearing
translate([0, 0, shoulderBaseHeight + (3 * bearing6807_2RS_B) + (7 * bearingStep)])
    %bearing6807_2RS();
// shoulder upper stepper
rotate([0, 0, 180])
    translate([-8, 0, 10 + 2 * shoulderBaseHeight + (4 * bearing6807_2RS_B) + (8 * bearingStep)])
        StepMotor28BYJ();
// shoulder spacers
color([.7, .6, .2])
shoulderSpacers(bearing6807_2RS_D + iFitAdjust, 0 * shoulderBaseHeight + (4 * bearing6807_2RS_B) + (8 * bearingStep));
color([.7, .6, .2])
translate([baseDeckExtension / 3, 0, 0])
shoulderSpacers(bearing6807_2RS_D + iFitAdjust, 0 * shoulderBaseHeight + (4 * bearing6807_2RS_B) + (8 * bearingStep));
// end shoulder

// lower arm including the shoulder - arm joint
//render()
color([1, .7, .7])
    translate([0, 0, shoulderBaseHeight + bearing6807_2RS_B])
        armLower(bearing6807_2RS_D + iFitAdjust, bearingStep, bearingStep, hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, screwTabs, screwTabHeight, armLength);
// upper arm
//render()
color([.9, .7, .7])
    translate([0, 0, shoulderBaseHeight + ( 2*bearing6807_2RS_B) + (12 * bearingStep) - (.5 * bearingStep)])
        rotate([180, 0, 0])
            armLower(bearing6807_2RS_D + iFitAdjust, bearingStep, bearingStep, hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, screwTabs, screwTabHeight, armLength);
// elbow joint pieces
// lower bearing
translate([-armLength, 0, shoulderBaseHeight + bearing6807_2RS_B + bearingStep])
    %bearing6807_2RS();
// arm upper stepper
translate([-armLength + 8, 0, shoulderBaseHeight + ( 3*bearing6807_2RS_B) + (16 * bearingStep) - (.5 * bearingStep)])
    rotate([0, 0, 180])
        StepMotor28BYJ();
// arm lower stepper
rotate([0, 180, 0])
    translate([armLength - 8, 0, bearingStep * 2])
        StepMotor28BYJ();
// arm spacers
color([.6, .6, .3])
    armSpacers(bearing6807_2RS_D + iFitAdjust, 0 * shoulderBaseHeight + (4 * bearing6807_2RS_B) + (8 * bearingStep));
// end arm

// forearm pieces
// lower
color([.1, .7, .1])
translate([-armLength, 0, shoulderBaseHeight + (bearing6807_2RS_B * 2) + (4 *bearingStep)])
//translate([-armLength, 0, shoulderBaseHeight + (bearing6807_2RS_B * 2) + (14 *bearingStep)])
    forearmLower(bearing6807_2RS_d - iFitAdjust, bearing6807_2RS_D + iFitAdjust, bearingStep, bearingStep, hubHeight + (bearing6807_2RS_B / 2) + (bearingStep/2), hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, forearmLength, boundingBox);
// upper
color([.2, .8, .2])
translate([-armLength, 0, shoulderBaseHeight + (bearing6807_2RS_B * 2) + (4 *bearingStep)])
    rotate([180, 0, 0])
        forearmLower(bearing6807_2RS_d - iFitAdjust, bearing6807_2RS_D + iFitAdjust, bearingStep, bearingStep, hubHeight + (bearing6807_2RS_B / 2) + (bearingStep/2), hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, forearmLength, boundingBox);
// forearm upper bearing
translate([-armLength, 0, shoulderBaseHeight + (2 * bearing6807_2RS_B) + (7 * bearingStep)])
    %bearing6807_2RS();
// forearm spacers

/*
deprecated
render()
    translate([-armLength, 0, shoulderBaseHeight + bearing6807_2RS_B + (2* bearingStep)])
        armJointSpacer(bearing6807_2RS_d - iFitAdjust, bearing6807_2RS_D + iFitAdjust, bearingStep, shaftBossDiameter, mountScrewDiameter);
*/

//bearingInnerStep(bearing6807_2RS_d - iFitAdjust, 2, 2);
module bearingInnerStep(bearingID, stepHeight, stepWidth) {
    difference() {
        union() {
            // this fits inside of the bearing
            cylinder(h = stepHeight * 2, d = bearingID);
            // this rests on the bearing inner lip
            cylinder(h = stepHeight, d = bearingID + stepWidth);
        }
        // remove center
        cylinder(h = stepHeight * 2, d = bearingID - (stepWidth * 2));
    }
}

//translate([0, 0, 12]) bearingOuterStep(bearing6807_2RS_D + iFitAdjust, 2, 2);
module bearingOuterStep(bearingOD, stepHeight, stepWidth) {
    //render(convexivity = 3)
    difference() {
        cylinder(h = stepHeight * 2, d = bearingOD + stepWidth);
        cylinder(h = stepHeight * 2, d = bearingOD - stepWidth);
        cylinder(h = stepHeight, d = bearingOD);
    }
}

module shoulderSpacers(bearingOD, screwSpacerHeight) {
    union() {
        // screw holes for joining to arm
        rotate([0, 0, -30])
        radial_array_partial(vec = [0, 0, 1], n = 6, 2)
            translate([bearingOD / 2 + (setScrewRadius * 8), 0, shoulderBaseHeight * 1.0])
        difference() {
            union () {
                cylinder(h = screwSpacerHeight, r = setScrewRadius * 2);

                }
            cylinder(h = screwTabHeight, r = setScrewRadius);
        }
    }
}

module armSpacers(bearingOD, screwSpacerHeight) {
    union() {
        // screw holes for joining to arm
        radial_array(vec = [0, 0, 1], n = 4)
            translate([bearingOD / 2 + (setScrewRadius * 2), 0, shoulderBaseHeight + bearing6807_2RS_B + 2 * bearingStep])
        difference() {
            union () {
                cylinder(h = bearing6807_2RS_B * 2 + 4 * bearingStep, r = setScrewRadius * 2);

                }
            cylinder(h = bearing6807_2RS_B * 2 + 4 * bearingStep, r = setScrewRadius);
        }
        // TODO: put in spacers along arm, make sure holes exist in arm
    }
}

// armJointSpacer(bearing6807_2RS_D - iFitAdjust, bearing6807_2RS_D + iFitAdjust, bearingStep, shaftBossDiameter, mountScrewDiameter);
module armJointSpacer(bearingID, bearingOD, bearingStep, shaftBossDiameter, mountScrewDiameter) {
    union() {
        difference() {
            cylinder(h = bearingStep * 2, d = bearingOD + bearingStep);
            cylinder(h = bearingStep * 2, d = bearingID);
        }
        translate([0, 0, bearingStep * 2])
                bearingInnerStep(bearingID, bearingStep, bearingStep);
        // screw holes for joining to arm
        radial_array(vec = [0, 0, 1], n = screwTabs)
                translate([bearingOD / 2 + (setScrewRadius * 2), 0, (2 * bearingStep) - screwTabHeight])
                    difference() {
                        union () {
                            cylinder(h = screwTabHeight, r = setScrewRadius * 2);
                            translate([-2 * setScrewRadius, - 2 * setScrewRadius, 0])
                                cube([setScrewRadius * 2, 4 * setScrewRadius, screwTabHeight], center = false);
                        }
                        cylinder(h = screwTabHeight, r = setScrewRadius);
                    }
    }
}

//shoulderBase(2, 55, 9.1, 3.1);
// WARNING: has some hard-coded non-parametric values in here!
module shoulderBase(bearingID, bearingOD, shoulderBaseHeight, shoulderBaseDiameter, shaftBossDiameter, mountScrewDiameter) {
    mountHoleDepth = shoulderBaseHeight;

    //render(convexivity = 3)
    difference() {
        union () {
            cylinder(h = shoulderBaseHeight, d = shoulderBaseDiameter);
            translate([0, 0, shoulderBaseHeight])
                bearingInnerStep(bearing6807_2RS_d - iFitAdjust, bearingStep, bearingStep);
            // 40 is the length of deck extension from the baseplate in x
            translate([0, -shoulderBaseDiameter / 2, 0])
                cube([baseDeckExtension, shoulderBaseDiameter, shoulderBaseHeight], center = false);
        }
        // motor shaft hole
        cylinder(h = shoulderBaseHeight + (bearingStep * 2), d = shaftBossDiameter);
        // mounting holes

        translate([shaftCenterToMountHoldCenterXAxis, mountHoleCenterToMountHoleCenter/2, 0])
            cylinder(h = mountHoleDepth, d = mountScrewDiameter);
        translate([shaftCenterToMountHoldCenterXAxis, -mountHoleCenterToMountHoleCenter/2, 0])
            cylinder(h = mountHoleDepth, d = mountScrewDiameter);
        // lead screw hole
        translate([baseDeckExtension - (leadScrewDiameter * 1.5), 0, 0])
            cylinder(h = shoulderBaseHeight, d = leadScrewDiameter + (leadScrewDiameter / 2));
        // upper to lower spacer screw holes
        rotate([0, 0, -30])
            radial_array_partial(vec = [0, 0, 1], n = 6, 2)
                translate([bearingOD / 2 + (setScrewRadius * 8), 0, shoulderBaseHeight * 0])
                    cylinder(h = screwTabHeight, r = setScrewRadius);
           translate([baseDeckExtension / 3, 0, 0])
            rotate([0, 0, -30])
            radial_array_partial(vec = [0, 0, 1], n = 6, 2)
                translate([bearingOD / 2 + (setScrewRadius * 8), 0, shoulderBaseHeight * 0])
                    cylinder(h = screwTabHeight, r = setScrewRadius);
    }
    // NOTE: need to add LM8UU mounts
}

module armLower(bearingOD, stepHeight, stepWidth, hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, screwTabs, screwTabHeight, armLength) {
    armWidth = bearingOD / 2;
    render(convexivity = 3)
    difference() {
    union() {
        armInnerJoint(bearingOD, bearingStep, bearingStep, hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, screwTabs, screwTabHeight);
        translate([-armLength, 0, 0])
            armOuterJointBase(bearingOD, bearingStep, setScrewRadius, screwTabs, screwTabHeight);
        difference() {
            translate([-armLength, -armWidth / 2, 0])
                cube([armLength, armWidth, bearingStep * 2], center=false);
            cylinder(h = bearingStep * 2, d = bearingOD);
            translate([-armLength, 0, 0])
                cylinder(h = bearingStep * 2, d = bearingOD);
            translate([-armLength + (bearingOD / 2) + (boundingBox / 2), -(armWidth / 2) + boundingBoxHalf, 0])
                cube([armLength - bearingOD - (boundingBox + boundingBoxHalf), armWidth - boundingBox, bearingStep * 2], center = false);
        }
        difference() {
            intersection() {

                translate([-armLength + (bearingOD / 2) + (boundingBox / 2), -(armWidth / 2) + boundingBoxHalf, 0])
                    cube([armLength - bearingOD - boundingBox, armWidth - boundingBox, bearingStep * 2], center = false);
                for (i = [ bearingOD / 2 - boundingBoxHalf: armWidth : armLength]) {
                    translate([ -i, 0, bearingStep])
                        rotate([0, 0, 45])
                            cube([spokeWidth, armWidth + boundingBoxHalf, bearingStep * 2], center = true);
                    translate([ -i, 0, bearingStep])
                        rotate([0, 0, -45])
                            cube([spokeWidth, armWidth + boundingBoxHalf, bearingStep * 2], center = true);
                }
            }

        }
   }
           // screw holes for joining to upper
        radial_array(vec = [0, 0, 1], n = screwTabs)
                translate([bearingOD / 2 + (setScrewRadius * 2), 0, (2 * stepHeight) - screwTabHeight])
                       cylinder(h = screwTabHeight, r = setScrewRadius);
   }
}

module armOuterJointBase(bearingOD, bearingStep, setScrewRadius, screwTabs, screwTabHeight) {
    mountHoleDepth = bearingStep * 2;

    union() {
        difference() {
            union() {
                translate([0, 0, -(bearingStep * 2)])
                    cylinder(h = bearingStep * 2, d = bearingOD + bearingStep);
                translate([0, 0, bearingStep * 2])
                    rotate([0, 180, 0])
                        bearingOuterStep(bearingOD, bearingStep, bearingStep);
            }
            // motor shaft hole
            translate([0, 0, -(bearingStep * 2)])
                cylinder(h = shoulderBaseHeight + (bearingStep * 2), d = shaftBossDiameter);
            // mounting holes
            translate([0, 0, -(bearingStep * 2)]) {
                translate([shaftCenterToMountHoldCenterXAxis, mountHoleCenterToMountHoleCenter/2, 0])
                cylinder(h = mountHoleDepth, d = mountScrewDiameter);
                translate([shaftCenterToMountHoldCenterXAxis, -mountHoleCenterToMountHoleCenter/2, 0])
                cylinder(h = mountHoleDepth, d = mountScrewDiameter);
            }
        }

    }
}

//armInnerJoint(bearing6807_2RS_D + iFitAdjust, bearingStep, bearingStep, hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, screwTabs, screwTabHeight);
module armInnerJoint(bearingOD, stepHeight, stepWidth, hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, screwTabs, screwTabHeight) {
    //translate([0, 0, hubHeight - (2 * stepHeight)])
    difference() {
        union() {
         difference() {
            cylinder(h = bearingStep * 2, d = bearingOD + (setScrewRadius * 6));
            cylinder(h = bearingStep * 2, d = bearingOD);
//            translate([0, -bearingOD, 0])
//                cube([bearingOD, bearingOD * 2, bearingStep * 2]);
        }
        bearingOuterStep(bearingOD, stepHeight, stepWidth);
        // hub
        translate([0, 0, -(hubHeight - (2 * stepHeight))])
            stepperHub(hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight);
        // spokes
        radial_array(vec=[0, 0, 1], n = spokes)
                translate([hubRadius - (stepWidth / 2), -(spokeWidth / 2), stepHeight])
                    cube([(bearingOD / 2) - hubRadius, spokeWidth, stepHeight], center = false);
        // screw tabs for joining to upper
        radial_array(vec = [0, 0, 1], n = screwTabs)
                translate([bearingOD / 2 + (setScrewRadius * 2), 0, (2 * stepHeight) - screwTabHeight])

                        union () {
                            cylinder(h = screwTabHeight, r = setScrewRadius * 2);
                            translate([-2 * setScrewRadius, - 2 * setScrewRadius, 0])
                                cube([setScrewRadius * 2, 4 * setScrewRadius, screwTabHeight], center = false);
                        }

                    }
        // screw holes for joining to upper
        radial_array(vec = [0, 0, 1], n = screwTabs)
                translate([bearingOD / 2 + (setScrewRadius * 2), 0, (2 * stepHeight) - screwTabHeight])
                       cylinder(h = screwTabHeight, r = setScrewRadius);
    }
}

module forearmLower(bearingID, bearingOD, stepHeight, stepWidth, hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight, spokeWidth, spokes, forearmLength, boundingBox) {
    armWidth = bearingOD / 2;

    rotate([180, 0, 0]) union() {
        boundingBoxHalf = boundingBox / 2;
        difference() {
            cylinder(h = bearingStep * 2, d = bearingOD + bearingStep);
            cylinder(h = bearingStep * 2, d = bearingID - (2 * bearingStep));
        }
        translate([0, 0, bearingStep * 2])
            bearingInnerStep(bearingID, bearingStep, bearingStep);
        // screw holes for joining to arm
        radial_array(vec = [0, 0, 1], n = screwTabs)
                translate([bearingOD / 2 + (setScrewRadius * 2), 0, (2 * bearingStep) - screwTabHeight])
                    difference() {
                        union () {
                            cylinder(h = screwTabHeight, r = setScrewRadius * 2);
                            translate([-2 * setScrewRadius, - 2 * setScrewRadius, 0])
                                cube([setScrewRadius * 2, 4 * setScrewRadius, screwTabHeight], center = false);
                        }
                        cylinder(h = screwTabHeight, r = setScrewRadius);
                    }
        // hub
        translate([0, 0, hubHeight]) rotate([180, 0, 0])
            stepperHub(hubHeight, hubRadius, shaftHeight, shaftRadius, setScrewRadius, setScrewHeight);
        // spokes
        radial_array(vec=[0, 0, 1], n = spokes)
                translate([hubRadius - (stepWidth / 2), -(spokeWidth / 2), 0])
                    cube([(bearingOD / 2) - hubRadius, spokeWidth, 2 *stepHeight], center = false);
        // forearm extension
             difference() {
            translate([-forearmLength, -armWidth / 2, 0])
                cube([forearmLength, armWidth, bearingStep * 2], center=false);
            cylinder(h = bearingStep * 2, d = bearingOD);
            translate([-forearmLength, 0, 0])
                cylinder(h = bearingStep * 2, d = bearingOD / 2);
                 // 4 on next line comes from dividing the bearingOD on the above line
            translate([-forearmLength + (bearingOD / 4) + (boundingBox / 2), -(armWidth / 2) + boundingBoxHalf, 0])
                cube([forearmLength - (bearingOD/2) - (boundingBox + boundingBoxHalf), armWidth - boundingBox, bearingStep * 2], center = false);
        }

            intersection() {

                translate([-forearmLength + boundingBox * 2, -(armWidth / 2) + boundingBoxHalf, 0])
                    cube([forearmLength - (bearingOD / 2) - boundingBox, armWidth - boundingBox, bearingStep * 2], center = false);
                for (i = [ bearingOD / 2 - boundingBoxHalf: armWidth : forearmLength]) {
                    translate([ -i, 0, bearingStep])
                        rotate([0, 0, 45])
                            cube([spokeWidth, armWidth + boundingBoxHalf, bearingStep * 2], center = true);
                    translate([ -i, 0, bearingStep])
                        rotate([0, 0, -45])
                            cube([spokeWidth, armWidth + boundingBoxHalf, bearingStep * 2], center = true);
                }
            }

    }
}

module copy_mirror(vec=[0,1,0]) {
    children();
    mirror(vec)
        children();
}

module radial_array(vec = [0,0,1], n = 4) {
    for ( i = [0 : n - 1] )
    {
        rotate( i * 360 / n, vec)
            children();
    }
}

module radial_array_partial(vec = [0,0,1], n = 4, j = 2) {
    for ( i = [0 : n - 1] )
    {
        if (i < j)
            rotate( i * 360 / n, vec)
                children();
    }
}


simplified focus knob

simplified focus knob

module inner_barrel(phi_in=23.9, phi_out=38, hh=13.5){
     difference(){
          cylinder(d=phi_out, h=hh, center=true);
          cylinder(d=phi_in, h=hh+0.4, center=true);
     }
}

module outer_barrel(phi_in1=38.1, phi_out1=41.7, h1=21.7, phi_out2=26, h2=3.6, phi_in2=23){

     difference(){
          union(){
               translate([0, 0, (h1+h2)/2])
                    cylinder(d=phi_out2, h=h2+0.2, center=true);
               cylinder(d=phi_out1, h=h1, center=true);
          }
          union(){
               translate([0, 0, (h1+h2)/2])
                    cylinder(d=phi_in2, h=h2+5, center=true);
               translate([0, 0, -2]) cylinder(d=phi_in1, h=h1, center=true);
          }
     }
}

module mock_focus(){
     inner_barrel();
     outer_barrel();
}

mock_focus();

error: pathspec 'scad/openscad/focus_knob.scad' did not match any file(s) known to git


Better type management in logic.scad

Better type management in logic.scad

/**
 * @license
 * MIT License
 *
 * Copyright (c) 2017-2019 Jean-Sebastien CONAN
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */

/**
 * Part of the camelSCAD library.
 *
 * Comparisons and boolean operations.
 *
 * @package core/logic
 * @author jsconan
 */

/**
 * Returns the first value if it is equivalent to true, otherwise returns the second value.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @returns *
 */
function or(a, b) = a ? a : b;

/**
 * Returns the second value if the first value is equivalent to true.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @returns *
 */
function and(a, b) = a ? b : a;

/**
 * Returns `true` when the paramaters do not have the same boolean meaning, otherwise return `false`.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @returns *
 */
function xor(a, b) = (!a && b) || (a && !b);

/**
 * Returns the first value if it is defined, otherwise returns the second value.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @returns *
 */
function uor(a, b) = isUndef(a) ? b : a;

/**
 * Returns the second value if the first value is defined.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @returns *
 */
function uand(a, b) = isUndef(a) ? a : b;

/**
 * Gets the first value if it is a number, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return Number|*
 */
function numberOr(a, b) = isNumber(a) ? a : b;

/**
 * Gets the first value if it is an integer, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return Number|*
 */
function integerOr(a, b) = isInteger(a) ? a : b;

/**
 * Gets the first value if it is a boolean, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return Boolean|*
 */
function booleanOr(a, b) = isBoolean(a) ? a : b;

/**
 * Gets the first value if it is a string, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return String|*
 */
function stringOr(a, b) = isString(a) ? a : b;

/**
 * Gets the first value if it is an array, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return Array|*
 */
function arrayOr(a, b) = isArray(a) ? a : b;

/**
 * Gets the first value if it is a vector, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return Vector|*
 */
function vectorOr(a, b) = isVector(a) ? a : b;

/**
 * Gets the first value if it is a 2D vector, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return Vector|*
 */
function vector2DOr(a, b) = isVector2D(a) ? a : b;

/**
 * Gets the first value if it is a 3D vector, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return Vector|*
 */
function vector3DOr(a, b) = isVector3D(a) ? a : b;

/**
 * Checks if all elements of an array are equivalent to true.
 *
 * @param Array a - The array to check.
 * @returns Boolean
 */
function allTrue(a) =
    let(
        a = array(a),
        l = len(a)
    )
    l ? len([ for (i = a) if (i) i ]) == l
      : false
;

/**
 * Checks if all elements of an array are falsy.
 *
 * @param Array a - The array to check.
 * @returns Boolean
 */
function allFalse(a) =
    let(
        a = array(a),
        l = len(a)
    )
    l ? len([ for (i = a) if (!i) i ]) == l
      : true
;

/**
 * Checks if all elements of an array are equal.
 *
 * @param Array a - The array to check
 * @returns Boolean
 */
function allSame(a) =
    let(
        a = array(a),
        l = len(a)
    )
    l > 1 ? !len([ for (i = [1 : l - 1]) if (a[i - 1] != a[i]) i ])
          : true
;

/**
 * Checks if a value is comprised within the given range, inclusive.
 *
 * @param Number value - The value to check.
 * @param Number low - The lowest value of the range.
 * @param Number high - The highest value of the range.
 * @returns Boolean
 */
function between(value, low, high) =
    let(
        value = float(value),
        low = float(low),
        high = float(high)
    )
    (value >= min(low, high) && value <= max(low, high))
;

/**
 * Checks if an array contains a particular value.
 *
 * @param Array a - The array to check.
 * @param * value - The value to search for.
 * @returns Boolean
 */
function contains(a, value) =
    let(
        a = array(a)
    )
    len([ for (i = a) if (i == value) i ]) > 0
;

/**
 * Checks if the provided values are approximately equal. Number will be rounded with the wanted decimal precision.
 * Strings and booleans will be strictly compared. Arrays and vectors will be recursively compared.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @param Number [precision] - The wanted decimal precision (default: 5).
 * @returns Boolean
 */
function approx(a, b, precision=5,
                // internal
                p, l) =
    isArray(a) ? (
       !isArray(b) ? false
       :(
            let(
                la = len(a),
                lb = len(b)
            )
            la != lb ? false
           :!l && (!la || concat(a) != a) ? a == b
           :let(
                p = float(p),
                l = numberOr(l, la)
            )
            l <= 4 ? (
                let(
                    r1 = approx(a[p], b[p], precision)
                )
                r1 && l > 1 ? (
                    let(
                        r2 = approx(a[p + 1], b[p + 1], precision)
                    )
                    r2 && l > 2 ? (
                        let(
                            r3 = approx(a[p + 2], b[p + 2], precision)
                        )
                        r3 && l > 3 ? approx(a[p + 3], b[p + 3], precision)
                       :r3
                    )
                   :r2
                )
               :r1
            )
           :let(
                half = floor(l / 2)
            )
            approx(a, b, precision, p, half) && approx(a, b, precision, p + half, l - half)
        )
    )
   :isNumber(a) ? (
        !isNumber(b) ? false
       :(
            let(
                sa = sign(a),
                sb = sign(b)
            )
            sa != sb ? false
           :sa == 0 ? a == b
           :let(
                precision = pow(10, float(precision)),
                a = round(a * precision) / precision,
                b = round(b * precision) / precision
            )
            a == b
        )
    )
   :a == b
;

/**
 * @license
 * MIT License
 *
 * Copyright (c) 2017 Jean-Sebastien CONAN
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */

/**
 * Part of the camelSCAD library.
 *
 * Comparisons and boolean operations.
 *
 * @package core/logic
 * @author jsconan
 */

/**
 * Returns the first value if it is equivalent to true, otherwise returns the second value.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @returns *
 */
function or(a, b) = a ? a : b;

/**
 * Returns the second value if the first value is equivalent to true.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @returns *
 */
function and(a, b) = a ? b : a;

/**
 * Returns `true` when the paramaters do not have the same boolean meaning, otherwise return `false`.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @returns *
 */
function xor(a, b) = (!a && b) || (a && !b);

/**
 * Returns the first value if it is defined, otherwise returns the second value.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @returns *
 */
function uor(a, b) = isUndef(a) ? b : a;

/**
 * Returns the second value if the first value is defined.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @returns *
 */
function uand(a, b) = isUndef(a) ? a : b;

/**
 * Gets the first value if it is a number, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return Number|*
 */
function numberOr(a, b) = isNumber(a) ? a : b;

/**
 * Gets the first value if it is an integer, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return Number|*
 */
function integerOr(a, b) = isInteger(a) ? a : b;

/**
 * Gets the first value if it is a boolean, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return Boolean|*
 */
function booleanOr(a, b) = isBoolean(a) ? a : b;

/**
 * Gets the first value if it is a string, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return String|*
 */
function stringOr(a, b) = isString(a) ? a : b;

/**
 * Gets the first value if it is an array, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return Array|*
 */
function arrayOr(a, b) = isArray(a) ? a : b;

/**
 * Gets the first value if it is a vector, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return Vector|*
 */
function vectorOr(a, b) = isVector(a) ? a : b;

/**
 * Gets the first value if it is a 2D vector, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return Vector|*
 */
function vector2DOr(a, b) = isVector2D(a) ? a : b;

/**
 * Gets the first value if it is a 3D vector, otherwise gets the second value whatever it is.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @return Vector|*
 */
function vector3DOr(a, b) = isVector3D(a) ? a : b;

/**
 * Checks if all elements of an array are equivalent to true.
 *
 * @param Array a - The array to check.
 * @returns Boolean
 */
function allTrue(a) =
    let( l = len(a) )
    l && !isString(a) ? len([ for (i = a) if (i) i ]) == l
                      : !!a
;

/**
 * Checks if all elements of an array are falsy.
 *
 * @param Array a - The array to check.
 * @returns Boolean
 */
function allFalse(a) =
    let( l = len(a) )
    l && !isString(a) ? len([ for (i = a) if (!i) i ]) == l
                      : !a
;

/**
 * Checks if all elements of an array are equal.
 *
 * @param Array a - The array to check
 * @returns Boolean
 */
function allSame(a) =
    let( l = len(a) )
    l > 1 && !isString(a) ? !len([ for (i = [1 : l - 1]) if (a[i - 1] != a[i]) i ])
                          : true
;

/**
 * Checks if a value is comprised within the given range, inclusive.
 *
 * @param Number value - The value to check.
 * @param Number low - The lowest value of the range.
 * @param Number high - The highest value of the range.
 * @returns Boolean
 */
function between(value, low, high) =
    let(
        value = float(value),
        low = float(low),
        high = float(high)
    )
    (value >= min(low, high) && value <= max(low, high))
;

/**
 * Checks if an array contains a particular value.
 *
 * @param Array a - The array to check.
 * @param * value - The value to search for.
 * @returns Boolean
 */
function contains(a, value) = len([ for (i = a) if (i == value) i ]) > 0;

/**
 * Checks if the provided values are approximately equal. Number will be rounded with the wanted decimal precision.
 * Strings and booleans will be strictly compared. Arrays and vectors will be recursively compared.
 *
 * @param * a - The first value.
 * @param * b - The second value.
 * @param Number [precision] - The wanted decimal precision (default: 5).
 * @returns Boolean
 */
function approx(a, b, precision=5,
                // internal
                p, l) =
    let(
        sa = sign(a),
        sb = sign(b)
    )
    sa != sb ? false
   :!sa ? (
       sa == 0 ? a == b
       :(
            let(
                la = len(a),
                lb = len(b)
            )
            la != lb ? false
           :!l && (!la || concat(a) != a) ? a == b
           :let(
                p = float(p),
                l = numberOr(l, la)
            )
            l <= 4 ? (
                let(
                    r1 = approx(a[p], b[p], precision)
                )
                r1 && l > 1 ? (
                    let(
                        r2 = approx(a[p + 1], b[p + 1], precision)
                    )
                    r2 && l > 2 ? (
                        let(
                            r3 = approx(a[p + 2], b[p + 2], precision)
                        )
                        r3 && l > 3 ? approx(a[p + 3], b[p + 3], precision)
                       :r3
                    )
                   :r2
                )
               :r1
            )
           :let(
                half = floor(l / 2)
            )
            approx(a, b, precision, p, half) && approx(a, b, precision, p + half, l - half)
        )
    )
   :let(
        precision = pow(10, float(precision)),
        a = round(a * precision) / precision,
        b = round(b * precision) / precision
    )
    a == b
;