Simplify further by disallowing variable dimensions in ServoMount

rocolib/builders/ESPSegBuilder.py

@@ -27,9 +27,6 @@ c.addConstraint(("brain", "length"), "width")
 c.addConstraint(("brain", "brain"), "controller")
 
 for servo in ("right", "left"):
-    c.addConstraint((servo,"width"), *depthfn())
-    c.addConstraint((servo,"depth"),
-                    "driveservo", "getDim(x,'motorheight')")
     c.addConstraint((servo, "length"),
                     ("length", "controller"),
                     "x[0] - getDim(x[1],'width')")

rocolib/builders/ServoMountBuilder.py

@@ -7,14 +7,18 @@ c.addParameter("servo", "fs90r", paramType="dimension")
 c.addParameter("flip", False, valueType="bool")
 c.addParameter("center", True, valueType="bool")
 c.addParameter("shift", 0, paramType="length")
+# XXX TODO: Define type: tuple of two numbers
 c.addParameter("offset", optional=True, overrides=("flip", "center", "shift"))
 
-c.addSubcomponent("beam", "SimpleRectBeam", inherit=True, prefix=None)
+c.addSubcomponent("beam", "SimpleRectBeam", inherit=("length", "addTabs"), prefix=None)
 c.addSubcomponent("mount", "Cutout")
 
 c.addConstraint(("mount", "dx"), "servo", 'getDim(x, "motorwidth") * 0.99')
 c.addConstraint(("mount", "dy"), "servo", 'getDim(x, "motorlength")')
 
+c.addConstraint(("beam", "width"), "servo", 'getDim(x, "motorwidth")')
+c.addConstraint(("beam", "depth"), "servo", 'getDim(x, "motorheight")')
+
 c.inheritAllInterfaces("beam", prefix=None)
 c.inheritAllInterfaces("mount")
 c.addConnection(("beam", "face0"),

rocolib/library/ESPSeg.yaml

@@ -144,9 +144,6 @@ subcomponents:
       angle:
         parameter: left.angle
       center: false
-      depth:
-        function: getDim(x,'motorheight')
-        parameter: driveservo
       length:
         function: x[0] - getDim(x[1],'width')
         parameter: &id001
@@ -156,11 +153,6 @@ subcomponents:
         parameter: height
       servo:
         parameter: driveservo
-      width:
-        function: max(getDim(x[0],'height'), getDim(x[1],'motorwidth'))
-        parameter:
-        - controller
-        - driveservo
   right:
     classname: Wheel
     kwargs:
@@ -169,9 +161,6 @@ subcomponents:
       angle:
         parameter: right.angle
       center: false
-      depth:
-        function: getDim(x,'motorheight')
-        parameter: driveservo
       flip: true
       length:
         function: x[0] - getDim(x[1],'width')
@@ -180,11 +169,6 @@ subcomponents:
         parameter: height
       servo:
         parameter: driveservo
-      width:
-        function: max(getDim(x[0],'height'), getDim(x[1],'motorwidth'))
-        parameter:
-        - controller
-        - driveservo
   sheath:
     classname: SimpleRectBeam
     kwargs: {}

rocolib/library/MountedServo.yaml

@@ -115,12 +115,6 @@ parameters:
     defaultValue: true
     spec:
       valueType: bool
-  depth:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
   flip:
     defaultValue: false
     spec:
@@ -149,38 +143,16 @@ parameters:
       minValue: 0
       units: mm
       valueType: (float, int)
-  width:
-    defaultValue: 20
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
 source: ../builders/MountedServoBuilder.py
 subcomponents:
   mount:
     classname: ServoMount
     kwargs: {}
     parameters:
-      _dx:
-        parameter: _dx
-      _dy:
-        parameter: _dy
-      _dz:
-        parameter: _dz
-      _q_a:
-        parameter: _q_a
-      _q_i:
-        parameter: _q_i
-      _q_j:
-        parameter: _q_j
-      _q_k:
-        parameter: _q_k
       addTabs:
         parameter: addTabs
       center:
         parameter: center
-      depth:
-        parameter: depth
       flip:
         parameter: flip
       length:
@@ -191,8 +163,6 @@ subcomponents:
         parameter: servo
       shift:
         parameter: shift
-      width:
-        parameter: width
   servo:
     classname: ServoMotor
     kwargs: {}

rocolib/library/ServoMount.yaml

@@ -54,48 +54,6 @@ interfaces:
     interface: topedge3
     subcomponent: beam
 parameters:
-  _dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  _dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  _dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  _q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  _q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  _q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  _q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
   addTabs:
     defaultValue: true
     spec:
@@ -104,12 +62,6 @@ parameters:
     defaultValue: true
     spec:
       valueType: bool
-  depth:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
   flip:
     defaultValue: false
     spec:
@@ -138,40 +90,22 @@ parameters:
       minValue: 0
       units: mm
       valueType: (float, int)
-  width:
-    defaultValue: 20
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
 source: ../builders/ServoMountBuilder.py
 subcomponents:
   beam:
     classname: SimpleRectBeam
     kwargs: {}
     parameters:
-      _dx:
-        parameter: _dx
-      _dy:
-        parameter: _dy
-      _dz:
-        parameter: _dz
-      _q_a:
-        parameter: _q_a
-      _q_i:
-        parameter: _q_i
-      _q_j:
-        parameter: _q_j
-      _q_k:
-        parameter: _q_k
       addTabs:
         parameter: addTabs
       depth:
-        parameter: depth
+        function: getDim(x, "motorheight")
+        parameter: servo
       length:
         parameter: length
       width:
-        parameter: width
+        function: getDim(x, "motorwidth")
+        parameter: servo
   mount:
     classname: Cutout
     kwargs: {}

rocolib/library/Wheel.yaml

@@ -115,12 +115,6 @@ parameters:
     defaultValue: true
     spec:
       valueType: bool
-  depth:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
   flip:
     defaultValue: false
     spec:
@@ -155,12 +149,6 @@ parameters:
       minValue: 0
       units: mm
       valueType: (float, int)
-  width:
-    defaultValue: 20
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
 source: ../builders/WheelBuilder.py
 subcomponents:
   drive:
@@ -187,8 +175,6 @@ subcomponents:
         parameter: angle
       center:
         parameter: center
-      depth:
-        parameter: depth
       flip:
         parameter: flip
       length:
@@ -199,8 +185,6 @@ subcomponents:
         parameter: servo
       shift:
         parameter: shift
-      width:
-        parameter: width
   tire:
     classname: RegularNGon
     kwargs: {}

rocolib/utils/dimensions.py

@@ -110,7 +110,7 @@ dims["tgy1370a"] = { "type" : "servo",
 
 dims["fs90r"] = { "type" : "servo",
     "motorlength"   : 23,
-    "motorwidth"    : 12.2,
+    "motorwidth"    : 13,
     "motorheight"   : 19,
     "shoulderlength": 5,
     "hornlength"    : 10,