include <camera.scad>
include <driveunit.scad>
include <bearing.scad>
include <antenna.scad>
include <computer.scad>
include <cammount.scad>

$fn = $preview ? 50 : 200;
// $t = 0;


/*

Weight:
Component       Weight      Amount
Motor           280g        2
Bearing         60g         4
Computer        50g ?       1
RTL SDR         30g?        1
GPS             50g?        1
Pulley 60T      50g?        2
Pulley 16T      10g?        2
Belts, Screws   100g?       1
Box Frame       200g?       1

*/

module gimbal(alt, az){
    alt_axis_z = 73.5;

    pulley_dist_alt = 51.7;
    pulley_dist_az = 51.7;

    pulley_height = 12;


    rotate([0, 0, az]){
        translate([-15, 0, alt_axis_z]){
            
            
            rotate([0, -alt, 0]){
                translate([0, 55, 0]){
                    cammount();
                }
                translate([0, -45, 0]){
                    rotate([0, 0, 180]){
                        cammount();
                    }
                }
                translate([-50, 95, 0]){
                    rotate([0, 90, 0]){
                        w110();
                    }
                }
                translate([-40, -85, 0]){
                    rotate([-90, 0, -90]){
                        usbcam1();
                    }
                }
                translate([0, 45, 0]){
                    rotate([-90, 90, 0]){
                        color([1,1,0.8])
                        union(){
                            intersection(){
                                cylinder(h=5, r=50);
                                translate([100, -100, 0]){
                                    cube([200, 200, 100], center=true);
                                }
                            }
                            cylinder(h=5, r=15);
                        }
                    }
                }
            }
        
            rotate([90, 0, 0]){
                cylinder(h=120, r=5, center=true);
            }
            translate([0, -55/2+4, 0]){
                rotate([90, 0, 0]){
                    driveunit(12, pulley_dist_alt, 19, 5, 7);
                }
            }
            
            translate([0, 55/2, 0]){
                rotate([-90, 60, 0]){
                    kfl000();
                }
            }
            translate([0, -55/2+4, 0]){
                rotate([-90, -60, 0]){
                    kfl000();
                }
            }
        }

        translate([0, 0, 0]){
            rotate([0, 180, 180]){
                driveunit(12, pulley_dist_alt, 19, 5, 7);
            }
        }
        
        rotate([0, 0, -60]){
            kfl000();
        }
        translate([0, 0, 101]){
            rotate([0, 0, 60]){
                kfl000();
            }
        }

        color([1,1,0.8])
        difference(){
            union(){
                translate([-37.5 - 15, 55/2 - 4, 0]){
                    cube([130, 4, 101]);
                }
                translate([-37.5 - 15, -55/2, 0]){
                    cube([130, 4, 101]);
                }
                translate([130/2 -37.5 - 15, 0, -2]){
                    cube([130, 55, 4], center=true);
                }
                translate([130/2 -37.5 - 15 + 4, 0, 47+2]){
                    cube([130-4, 55, 4], center=true);
                }
                translate([130/2 -37.5 - 15, 0, 101 - 2]){
                    cube([130, 55, 4], center=true);
                }
            }
            cylinder(h=200, r=6, center=true);
            translate([pulley_dist_az, 0, 0]){
                cylinder(h=40, r=11, center=true);
            }
        }
        translate([-37.5-15 + 2, 0, 101/2-2]){
            color([0.5,0.5,0,0.2]){
                // cube([4, 55-8, 101-4], center=true);
            }
        }

        translate([50, 0, 101]){
            antenna_gps();
        }
        translate([-40, 0, 101]){
            antenna_adsb();
        }
    }
    
    translate([0, 0, -30]){
        rotate([0, 0, 0]){
            cube([200, 200, 10], center=true);
        }
        cylinder(h=150, r=5);
    }
}

gimbal(abs(($t * 360)%180 - 90), $t*360);