diff --git a/rocolib/builders/boat/mounts/DoubleServoMountBuilder.py b/rocolib/builders/boat/mounts/DoubleServoMountBuilder.py
index 7e1c6fdf83fd64c67aeb531e873a504e6d581d88..91b6a046376c568abd5f18497231eea4a3a5cba8 100644
--- a/rocolib/builders/boat/mounts/DoubleServoMountBuilder.py
+++ b/rocolib/builders/boat/mounts/DoubleServoMountBuilder.py
@@ -7,9 +7,9 @@ c.addParameter("depth", 70, paramType="length")
# c.addConstraint(("boat", "boat.width"), "width")
# c.addConstraint(("boat", "boat.depth"), "depth")
-c.addSubcomponent("lServoMount", "SideServoMount", inherit=("depth","length"))
+c.addSubcomponent("lServoMount", "SideServoMount", inherit=("depth","length","width"))
c.inheritAllInterfaces("lServoMount")
-c.addSubcomponent("rServoMount", "SideServoMount", inherit=("depth","length"))
+c.addSubcomponent("rServoMount", "SideServoMount", inherit=("depth","length","width"))
c.inheritAllInterfaces("rServoMount")
#Bottom belt
c.addSubcomponent("lservodown", "Rectangle")
diff --git a/rocolib/builders/boat/mounts/ServoMountAndStackBuilder.py b/rocolib/builders/boat/mounts/ServoMountAndStackBuilder.py
index b5b66938ab3c1dfb66b44ea053cf396f529f317c..779645d985d6b0041d5fa12a87d2e9098e449fdf 100644
--- a/rocolib/builders/boat/mounts/ServoMountAndStackBuilder.py
+++ b/rocolib/builders/boat/mounts/ServoMountAndStackBuilder.py
@@ -3,35 +3,28 @@ from rocolib.api.Function import Function
c = Component()
-c.addSubcomponent("doubleServoMount", "DoubleServoMount", inherit=True, prefix=None)
+c.addSubcomponent("doubleServoMount", "DoubleServoMount", inherit=("lServoMount.depth","lServoMount.width"), prefix=None)
c.inheritAllInterfaces("doubleServoMount")
-c.addSubcomponent("espStack", "StackMount", inherit=True)
-#c.inheritAllInterfaces("espStack")
+c.addSubcomponent("espStack", "StackMount", inherit="stack.length", prefix=None)
+c.inheritAllInterfaces("espStack")
c.addSubcomponent("portsplit", "SplitEdge")
c.inheritAllInterfaces("portsplit")
-c.addConstConstraint(("portsplit", "toplength"), (168,)) #(("doubleServoMount", "lServoMount.depth"), ("espStack", "stack.length")), "(x[0] + x[1],)"
-c.addConstConstraint(("portsplit", "botlength"), (61, 10, 24, 73)) #but the value of the new component's boat.length parameter is completely disconnected from the value of the boat component's boat.length parameter
+c.addConstraint(("portsplit", "toplength"), ("lServoMount.depth", "lServoMount.width", "stack.length"), "(x[0]*2+x[1]*2+10*2+x[2],)")
+c.addConstraint(("portsplit", "botlength"), ("lServoMount.depth", "lServoMount.width", "stack.length"), "(x[2], 10, x[0], x[0]+x[1]*2+10)")
c.addConnection(("doubleServoMount", "lServoInterface"), ("portsplit", "botedge2")) #both face the same direction
c.addConnection(("espStack", "leftArmInterface"), ("portsplit", "botedge0")) #both face the same direction
c.addSubcomponent("starsplit", "SplitEdge")
c.inheritAllInterfaces("starsplit")
-c.addConstConstraint(("starsplit", "toplength"), (168,))
-c.addConstConstraint(("starsplit", "botlength"), (73, 24, 10, 61)) #but the value of the new component's boat.length parameter is completely disconnected from the value of the boat component's boat.length parameter
+c.addConstraint(("starsplit", "toplength"), ("lServoMount.depth", "lServoMount.width", "stack.length"), "(x[0] * 2 + x[1] * 2 + 10 * 2 + x[2],)")
+c.addConstraint(("starsplit", "botlength"), ("lServoMount.depth", "lServoMount.width", "stack.length"), "(x[0]+x[1]*2+10, x[0], 10, x[2])")
c.addConnection(("doubleServoMount", "rServoInterface"), ("starsplit", "botedge1"))
c.addConnection(("espStack", "rightArmInterface"), ("starsplit", "botedge3"), tabWidth=10)
-# c.addSubcomponent("topStarSplit", "SplitEdge")
-# c.addConstraint(("topStarSplit", "toplength"), ("topDistance"), "(x,)")
-# c.addConstraint(("topStarSplit", "botlength"), ("topDistance", "espStack.stack.length"), "(x[0]-x[1], x[1])") #but the value of the new component's boat.length parameter is completely disconnected from the value of the boat component's boat.length parameter
-# c.addConnection(("topStarSplit", "topedge0"), ("boatwithservo", "topStar")) #both face the same direction
-# c.addConnection(("topStarSplit", "botedge1"), ("espStack", "rightArmInterface"), tabWidth=10)
-
c.inheritInterface("lmountandservosplit", ("portsplit","topedge0"))
c.inheritInterface("rmountandservosplit", ("starsplit","topedge0"))
-#c.inheritInterface("espMountTab", ("espStack", "rightArmInterface")) #need to add this onto the boat, not the splitEdge
c.toLibrary("ServoMountAndStack")
diff --git a/rocolib/library/DoubleServoMount.yaml b/rocolib/library/DoubleServoMount.yaml
index 73a4d07747479afb05183f5997d29017e30209c7..9bfacee8505c7d614401269db2d4a145b8f3bc42 100644
--- a/rocolib/library/DoubleServoMount.yaml
+++ b/rocolib/library/DoubleServoMount.yaml
@@ -67,6 +67,12 @@ parameters:
minValue: 0
units: mm
valueType: (float, int)
+ lServoMount.width:
+ defaultValue: 20
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
rServoMount.depth:
defaultValue: 24
spec:
@@ -79,13 +85,19 @@ parameters:
minValue: 0
units: mm
valueType: (float, int)
+ rServoMount.width:
+ defaultValue: 20
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
width:
defaultValue: 90
spec:
minValue: 0
units: mm
valueType: (float, int)
-source: ../builders/boat/DoubleServoMountBuilder.py
+source: ../builders/boat/mounts/DoubleServoMountBuilder.py
subcomponents:
lServoMount:
classname: SideServoMount
@@ -95,6 +107,8 @@ subcomponents:
parameter: lServoMount.depth
length:
parameter: lServoMount.length
+ width:
+ parameter: lServoMount.width
lservoacross:
classname: Rectangle
kwargs: {}
@@ -123,6 +137,8 @@ subcomponents:
parameter: rServoMount.depth
length:
parameter: rServoMount.length
+ width:
+ parameter: rServoMount.width
rservoacross:
classname: Rectangle
kwargs: {}
diff --git a/rocolib/library/ServoMountAndStack.yaml b/rocolib/library/ServoMountAndStack.yaml
index 749f50e6e2d0287b923ecb6eb354f5c6b66082a1..0b35228c8afeb3175475c4db1604526c1a86b64e 100644
--- a/rocolib/library/ServoMountAndStack.yaml
+++ b/rocolib/library/ServoMountAndStack.yaml
@@ -42,6 +42,12 @@ interfaces:
doubleServoMount.rServoMount.rightInterface:
interface: rServoMount.rightInterface
subcomponent: doubleServoMount
+ espStack.leftArmInterface:
+ interface: leftArmInterface
+ subcomponent: espStack
+ espStack.rightArmInterface:
+ interface: rightArmInterface
+ subcomponent: espStack
lmountandservosplit:
interface: topedge0
subcomponent: portsplit
@@ -1249,230 +1255,60 @@ interfaces:
interface: topedge99
subcomponent: starsplit
parameters:
- depth:
- defaultValue: 70
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- espStack.depth:
- defaultValue: 70
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- espStack.lArm._dx:
- defaultValue: 0
- spec:
- minValue: null
- units: mm
- valueType: (float, int)
- espStack.lArm._dy:
- defaultValue: 0
- spec:
- minValue: null
- units: mm
- valueType: (float, int)
- espStack.lArm._dz:
- defaultValue: 0
- spec:
- minValue: null
- units: mm
- valueType: (float, int)
- espStack.lArm._q_a:
- defaultValue: 1
- spec:
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- espStack.lArm._q_i:
- defaultValue: 0
- spec:
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- espStack.lArm._q_j:
- defaultValue: 0
- spec:
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- espStack.lArm._q_k:
- defaultValue: 0
- spec:
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- espStack.rArm._dx:
- defaultValue: 0
- spec:
- minValue: null
- units: mm
- valueType: (float, int)
- espStack.rArm._dy:
- defaultValue: 0
- spec:
- minValue: null
- units: mm
- valueType: (float, int)
- espStack.rArm._dz:
- defaultValue: 0
- spec:
- minValue: null
- units: mm
- valueType: (float, int)
- espStack.rArm._q_a:
- defaultValue: 1
- spec:
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- espStack.rArm._q_i:
- defaultValue: 0
- spec:
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- espStack.rArm._q_j:
- defaultValue: 0
- spec:
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- espStack.rArm._q_k:
- defaultValue: 0
- spec:
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- espStack.stack.brains:
- defaultValue: esp32stack
- spec:
- valueType: str
- espStack.stack.dy1:
- defaultValue: 18
- spec:
- parameterType: length
- espStack.stack.length:
- defaultValue: 61
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- espStack.width:
- defaultValue: 70
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
lServoMount.depth:
defaultValue: 24
spec:
minValue: 0
units: mm
valueType: (float, int)
- lServoMount.length:
- defaultValue: 34
+ lServoMount.width:
+ defaultValue: 20
spec:
minValue: 0
units: mm
valueType: (float, int)
- rServoMount.depth:
- defaultValue: 24
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- rServoMount.length:
- defaultValue: 34
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- width:
- defaultValue: 90
+ stack.length:
+ defaultValue: 61
spec:
minValue: 0
units: mm
valueType: (float, int)
-source: ../builders/boat/ServoMountAndStackBuilder.py
+source: ../builders/boat/mounts/ServoMountAndStackBuilder.py
subcomponents:
doubleServoMount:
classname: DoubleServoMount
kwargs: {}
parameters:
- depth:
- parameter: depth
lServoMount.depth:
parameter: lServoMount.depth
- lServoMount.length:
- parameter: lServoMount.length
- rServoMount.depth:
- parameter: rServoMount.depth
- rServoMount.length:
- parameter: rServoMount.length
- width:
- parameter: width
+ lServoMount.width:
+ parameter: lServoMount.width
espStack:
classname: StackMount
kwargs: {}
parameters:
- depth:
- parameter: espStack.depth
- lArm._dx:
- parameter: espStack.lArm._dx
- lArm._dy:
- parameter: espStack.lArm._dy
- lArm._dz:
- parameter: espStack.lArm._dz
- lArm._q_a:
- parameter: espStack.lArm._q_a
- lArm._q_i:
- parameter: espStack.lArm._q_i
- lArm._q_j:
- parameter: espStack.lArm._q_j
- lArm._q_k:
- parameter: espStack.lArm._q_k
- rArm._dx:
- parameter: espStack.rArm._dx
- rArm._dy:
- parameter: espStack.rArm._dy
- rArm._dz:
- parameter: espStack.rArm._dz
- rArm._q_a:
- parameter: espStack.rArm._q_a
- rArm._q_i:
- parameter: espStack.rArm._q_i
- rArm._q_j:
- parameter: espStack.rArm._q_j
- rArm._q_k:
- parameter: espStack.rArm._q_k
- stack.brains:
- parameter: espStack.stack.brains
- stack.dy1:
- parameter: espStack.stack.dy1
stack.length:
- parameter: espStack.stack.length
- width:
- parameter: espStack.width
+ parameter: stack.length
portsplit:
classname: SplitEdge
kwargs: {}
parameters:
botlength:
- - 61
- - 10
- - 24
- - 73
- toplength: &id001
- - 168
+ function: (x[2], 10, x[0], x[0]+x[1]*2+10)
+ parameter: &id001
+ - lServoMount.depth
+ - lServoMount.width
+ - stack.length
+ toplength:
+ function: (x[0]*2+x[1]*2+10*2+x[2],)
+ parameter: *id001
starsplit:
classname: SplitEdge
kwargs: {}
parameters:
botlength:
- - 73
- - 24
- - 10
- - 61
- toplength: *id001
+ function: (x[0]+x[1]*2+10, x[0], 10, x[2])
+ parameter: *id001
+ toplength:
+ function: (x[0] * 2 + x[1] * 2 + 10 * 2 + x[2],)
+ parameter: *id001
diff --git a/rocolib/output/ServoMountAndStack/graph-anim.svg b/rocolib/output/ServoMountAndStack/graph-anim.svg
index cb06156e22a340c54458975bb61a997c8a5abd62..348e573eb97ae1669832d01249ca2f2231dcc183 100644
--- a/rocolib/output/ServoMountAndStack/graph-anim.svg
+++ b/rocolib/output/ServoMountAndStack/graph-anim.svg
@@ -11,11 +11,11 @@
<line stroke="#000000" x1="115.00000000000001" x2="120.00000000000001" y1="98.00000000000001" y2="98.00000000000001"/>
<line stroke="#000000" x1="0.0" x2="34.0" y1="98.00000000000001" y2="98.00000000000001"/>
<line opacity="0.5" stroke="#0000ff" x1="34.0" x2="0.0" y1="74.0" y2="74.0"/>
- <line stroke="#000000" x1="0.0" x2="0.0" y1="74.0" y2="1.0000000000000002"/>
+ <line stroke="#000000" x1="0.0" x2="0.0" y1="74.0" y2="0.0"/>
<line stroke="#000000" x1="0.0" x2="0.0" y1="108.00000000000001" y2="98.00000000000001"/>
<line stroke="#000000" x1="0.0" x2="0.0" y1="169.00000000000003" y2="169.00000000000003"/>
- <line stroke="#000000" x1="0.0" x2="0.0" y1="1.0000000000000002" y2="169.00000000000003"/>
- <line stroke="#000000" x1="0.0" x2="0.0" y1="1.0000000000000002" y2="1.0000000000000002"/>
+ <line stroke="#000000" x1="0.0" x2="0.0" y1="0.0" y2="169.00000000000003"/>
+ <line stroke="#000000" x1="0.0" x2="0.0" y1="0.0" y2="0.0"/>
<line opacity="0.25" stroke="#0000ff" x1="36.138621999185304" x2="36.138621999185304" y1="108.00000000000001" y2="169.00000000000003"/>
<line stroke="#000000" x1="0.0" x2="36.138621999185304" y1="169.00000000000003" y2="169.00000000000003"/>
<line stroke="#000000" x1="36.138621999185304" x2="0.0" y1="108.00000000000001" y2="108.00000000000001"/>
@@ -102,9 +102,9 @@
<line opacity="0.5" stroke="#0000ff" x1="130.0" x2="164.0" y1="98.00000000000001" y2="98.00000000000001"/>
<line stroke="#000000" x1="130.0" x2="130.0" y1="64.00000000000001" y2="3.0000000000000004"/>
<line stroke="#000000" x1="130.0" x2="130.0" y1="74.0" y2="64.00000000000001"/>
- <line stroke="#000000" x1="130.0" x2="130.0" y1="171.00000000000003" y2="98.00000000000001"/>
- <line stroke="#000000" x1="130.0" x2="130.0" y1="171.00000000000003" y2="171.00000000000003"/>
- <line stroke="#000000" x1="130.0" x2="130.0" y1="3.0000000000000004" y2="171.00000000000003"/>
+ <line stroke="#000000" x1="130.0" x2="130.0" y1="172.00000000000003" y2="98.00000000000001"/>
+ <line stroke="#000000" x1="130.0" x2="130.0" y1="172.00000000000003" y2="172.00000000000003"/>
+ <line stroke="#000000" x1="130.0" x2="130.0" y1="3.0000000000000004" y2="172.00000000000003"/>
<line stroke="#000000" x1="130.0" x2="130.0" y1="3.0000000000000004" y2="3.0000000000000004"/>
<line stroke="#000000" x1="130.0" x2="130.0" y1="98.00000000000001" y2="118.00000000000001"/>
<line stroke="#000000" x1="164.0" x2="164.0" y1="118.00000000000001" y2="98.00000000000001"/>
diff --git a/rocolib/output/ServoMountAndStack/graph-autofold-default.dxf b/rocolib/output/ServoMountAndStack/graph-autofold-default.dxf
index 42cea247808030e55fa8ee50040d05e00f9a29c5..138411e35f07f4533afaf447c6765d378bb152f2 100644
--- a/rocolib/output/ServoMountAndStack/graph-autofold-default.dxf
+++ b/rocolib/output/ServoMountAndStack/graph-autofold-default.dxf
@@ -1175,7 +1175,7 @@ cut
11
0.0
21
-1.0000000000000002
+0.0
31
0.0
0
@@ -1223,7 +1223,7 @@ cut
10
0.0
20
-1.0000000000000002
+0.0
30
0.0
11
@@ -1241,13 +1241,13 @@ cut
10
0.0
20
-1.0000000000000002
+0.0
30
0.0
11
0.0
21
-1.0000000000000002
+0.0
31
0.0
0
@@ -2823,7 +2823,7 @@ cut
10
130.0
20
-171.00000000000003
+172.00000000000003
30
0.0
11
@@ -2841,13 +2841,13 @@ cut
10
130.0
20
-171.00000000000003
+172.00000000000003
30
0.0
11
130.0
21
-171.00000000000003
+172.00000000000003
31
0.0
0
@@ -2865,7 +2865,7 @@ cut
11
130.0
21
-171.00000000000003
+172.00000000000003
31
0.0
0
diff --git a/rocolib/output/ServoMountAndStack/graph-autofold-graph.dxf b/rocolib/output/ServoMountAndStack/graph-autofold-graph.dxf
index 65512a431585d28fe69d5bb6b1505ce317ccd891..1a7f73324d990f2b4a814ef5b11661f64e819185 100644
--- a/rocolib/output/ServoMountAndStack/graph-autofold-graph.dxf
+++ b/rocolib/output/ServoMountAndStack/graph-autofold-graph.dxf
@@ -1135,7 +1135,7 @@ LINE
11
0.0
21
-1.0000000000000002
+0.0
31
0.0
0
@@ -1183,7 +1183,7 @@ LINE
10
0.0
20
-1.0000000000000002
+0.0
30
0.0
11
@@ -1201,13 +1201,13 @@ LINE
10
0.0
20
-1.0000000000000002
+0.0
30
0.0
11
0.0
21
-1.0000000000000002
+0.0
31
0.0
0
@@ -2783,7 +2783,7 @@ LINE
10
130.0
20
-171.00000000000003
+172.00000000000003
30
0.0
11
@@ -2801,13 +2801,13 @@ LINE
10
130.0
20
-171.00000000000003
+172.00000000000003
30
0.0
11
130.0
21
-171.00000000000003
+172.00000000000003
31
0.0
0
@@ -2825,7 +2825,7 @@ LINE
11
130.0
21
-171.00000000000003
+172.00000000000003
31
0.0
0
diff --git a/rocolib/output/ServoMountAndStack/graph-lasercutter.svg b/rocolib/output/ServoMountAndStack/graph-lasercutter.svg
index cd575c1796d20bbb5a8183826de4ced7004d528e..755cd98b8de0532c7a50c443ec33447ed78cd01d 100644
--- a/rocolib/output/ServoMountAndStack/graph-lasercutter.svg
+++ b/rocolib/output/ServoMountAndStack/graph-lasercutter.svg
@@ -11,11 +11,11 @@
<line stroke="#000000" x1="115.00000000000001" x2="120.00000000000001" y1="98.00000000000001" y2="98.00000000000001"/>
<line stroke="#000000" x1="0.0" x2="34.0" y1="98.00000000000001" y2="98.00000000000001"/>
<line stroke="#0000ff" stroke-dasharray="2 6" stroke-dashoffset="5" x1="34.0" x2="0.0" y1="74.0" y2="74.0"/>
- <line stroke="#000000" x1="0.0" x2="0.0" y1="74.0" y2="1.0000000000000002"/>
+ <line stroke="#000000" x1="0.0" x2="0.0" y1="74.0" y2="0.0"/>
<line stroke="#000000" x1="0.0" x2="0.0" y1="108.00000000000001" y2="98.00000000000001"/>
<line stroke="#000000" x1="0.0" x2="0.0" y1="169.00000000000003" y2="169.00000000000003"/>
- <line stroke="#000000" x1="0.0" x2="0.0" y1="1.0000000000000002" y2="169.00000000000003"/>
- <line stroke="#000000" x1="0.0" x2="0.0" y1="1.0000000000000002" y2="1.0000000000000002"/>
+ <line stroke="#000000" x1="0.0" x2="0.0" y1="0.0" y2="169.00000000000003"/>
+ <line stroke="#000000" x1="0.0" x2="0.0" y1="0.0" y2="0.0"/>
<line stroke="#0000ff" stroke-dasharray="2 6" stroke-dashoffset="5" x1="36.138621999185304" x2="36.138621999185304" y1="108.00000000000001" y2="169.00000000000003"/>
<line stroke="#000000" x1="0.0" x2="36.138621999185304" y1="169.00000000000003" y2="169.00000000000003"/>
<line stroke="#000000" x1="36.138621999185304" x2="0.0" y1="108.00000000000001" y2="108.00000000000001"/>
@@ -102,9 +102,9 @@
<line stroke="#0000ff" stroke-dasharray="2 6" stroke-dashoffset="5" x1="130.0" x2="164.0" y1="98.00000000000001" y2="98.00000000000001"/>
<line stroke="#000000" x1="130.0" x2="130.0" y1="64.00000000000001" y2="3.0000000000000004"/>
<line stroke="#000000" x1="130.0" x2="130.0" y1="74.0" y2="64.00000000000001"/>
- <line stroke="#000000" x1="130.0" x2="130.0" y1="171.00000000000003" y2="98.00000000000001"/>
- <line stroke="#000000" x1="130.0" x2="130.0" y1="171.00000000000003" y2="171.00000000000003"/>
- <line stroke="#000000" x1="130.0" x2="130.0" y1="3.0000000000000004" y2="171.00000000000003"/>
+ <line stroke="#000000" x1="130.0" x2="130.0" y1="172.00000000000003" y2="98.00000000000001"/>
+ <line stroke="#000000" x1="130.0" x2="130.0" y1="172.00000000000003" y2="172.00000000000003"/>
+ <line stroke="#000000" x1="130.0" x2="130.0" y1="3.0000000000000004" y2="172.00000000000003"/>
<line stroke="#000000" x1="130.0" x2="130.0" y1="3.0000000000000004" y2="3.0000000000000004"/>
<line stroke="#000000" x1="130.0" x2="130.0" y1="98.00000000000001" y2="118.00000000000001"/>
<line stroke="#000000" x1="164.0" x2="164.0" y1="118.00000000000001" y2="98.00000000000001"/>
diff --git a/rocolib/output/ServoMountAndStack/graph-silhouette.dxf b/rocolib/output/ServoMountAndStack/graph-silhouette.dxf
index 88a2003d7b09dfcf0bf09eeefb6644091fe75c89..ecd7846eca5f29fb3c7a6c9e99a8daaf41833bbe 100644
--- a/rocolib/output/ServoMountAndStack/graph-silhouette.dxf
+++ b/rocolib/output/ServoMountAndStack/graph-silhouette.dxf
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