diff --git a/rocolib/builders/PaddleboatWithCameraBuilder.py b/rocolib/builders/PaddleboatWithCameraBuilder.py
index 4085ffc1aa9aa703f10c6ef9d22c2c33dbeb9e9a..4e648e9d2eb5807cd7578c6fea7b8980ba0c562a 100644
--- a/rocolib/builders/PaddleboatWithCameraBuilder.py
+++ b/rocolib/builders/PaddleboatWithCameraBuilder.py
@@ -24,9 +24,6 @@ for i in range(2):
'(getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"),'
'getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), x[0]- 9 * getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"),'
'getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"))')
- # c.addSubcomponent("rect%d" % i, "Rectangle")
- # c.addConstraint(("rect%d" %i, "l"), "depth")
- # c.addConstraint(("rect%d" %i, "w"), "driveservo", "getDim(x, 'motorwidth')")
c.addConnection(("boat", "staredge"), ("split0", "topedge0"))
c.addConnection(("boat", "portedge"), ("split1", "topedge0"))
@@ -34,4 +31,24 @@ c.addConnection(("boat", "portedge"), ("split1", "topedge0"))
c.addConnection(("mount0", "beam.botedge2"), ("split0", "botedge4"), angle=-180)
c.addConnection(("mount1", "beam.botedge2"), ("split1", "botedge5"), angle=-180)
+#Seats
+c.addSubcomponent("camHolder", "Rectangle")
+c.addConstraint(("camHolder", "l"), "boat.width")
+c.addConstraint(("camHolder", "w"), "boat.width", "13") #asks for another param, so I just put boat.width
+# c.addConnection(("split0", "botedge0"), ("boat", "portedge"), angle=90)
+# c.addConnection(("split1", "topedge0"), ("boat", "staredge"), angle=90, tabWidth=10)
+c.addConnection(("split0", "botedge0"), ("camHolder", "r"), angle=90)
+c.addConnection(("split1", "botedge9"), ("camHolder", "l"), tabWidth=6, angle=90)
+
+c.addSubcomponent("boatSupport", "Rectangle")
+c.addConstraint(("boatSupport", "l"), "boat.width")
+c.addConstraint(("boatSupport", "w"), "boat.width", "13") #asks for another param, so I just put boat.width
+# c.addConnection(("split0", "botedge0"), ("boat", "portedge"), angle=90)
+# c.addConnection(("split1", "topedge0"), ("boat", "staredge"), angle=90, tabWidth=10)
+c.addConnection(("split0", "botedge9"), ("boatSupport", "r"), tabWidth=6, angle=90)
+c.addConnection(("split1", "botedge0"), ("boatSupport", "l"), angle=90)
+
+c.addSubcomponent("stack", "SubESP32Stack")
+
+
c.toLibrary("PaddleboatWithCamera")
diff --git a/rocolib/builders/SubESP32StackBuilder.py b/rocolib/builders/SubESP32StackBuilder.py
index 8e36918e304f05fd6d11c6d0e1f06e60534a8fee..90b248edb5fdfc168feb99217bee1aa614a64e3a 100644
--- a/rocolib/builders/SubESP32StackBuilder.py
+++ b/rocolib/builders/SubESP32StackBuilder.py
@@ -11,7 +11,7 @@ c.addParameter("length", 61, paramType="length")
c.addParameter("brains", "esp32stack", paramType="dimension")
c.addConstraint(("holder", "length"), "length")
-c.addConstraint(("holder", "depth"), "brains", "getDim(x, 'height')")
+c.addConstraint(("holder", "depth"), "brains", "60")
c.addConstraint(("holder", "width"), "brains", "getDim(x, 'width')")
#This parameter will change when the dimensions of the car or vehicle is changed
diff --git a/rocolib/library/PaddleboatWithCamera.yaml b/rocolib/library/PaddleboatWithCamera.yaml
index 7c75cb3be97ff059e230a90d0b1a7485c505fa34..f5bb90978ce7ab149e5519c3a1f09f1add6f6654 100644
--- a/rocolib/library/PaddleboatWithCamera.yaml
+++ b/rocolib/library/PaddleboatWithCamera.yaml
@@ -23,6 +23,32 @@ connections:
- - split1
- botedge5
- angle: -180
+ connection4:
+ - - split0
+ - botedge0
+ - - camHolder
+ - r
+ - angle: 90
+ connection5:
+ - - split1
+ - botedge9
+ - - camHolder
+ - l
+ - angle: 90
+ tabWidth: 6
+ connection6:
+ - - split0
+ - botedge9
+ - - boatSupport
+ - r
+ - angle: 90
+ tabWidth: 6
+ connection7:
+ - - split1
+ - botedge0
+ - - boatSupport
+ - l
+ - angle: 90
interfaces: {}
parameters:
boat.boat._dx:
@@ -235,6 +261,24 @@ subcomponents:
parameter: boat.stern._q_k
width:
parameter: boat.width
+ boatSupport:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ parameter: boat.width
+ w:
+ function: '13'
+ parameter: boat.width
+ camHolder:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ parameter: boat.width
+ w:
+ function: '13'
+ parameter: boat.width
mount0:
classname: MountedServo
kwargs: {}
@@ -281,3 +325,7 @@ subcomponents:
toplength:
function: (x,)
parameter: boat.length
+ stack:
+ classname: SubESP32Stack
+ kwargs: {}
+ parameters: {}
diff --git a/rocolib/library/SubESP32Stack.yaml b/rocolib/library/SubESP32Stack.yaml
index c465dd7cf2bcac153709c0050b104c4961d30057..7fa318693d01fafcbfcc68eaf3607f4d275eebfa 100644
--- a/rocolib/library/SubESP32Stack.yaml
+++ b/rocolib/library/SubESP32Stack.yaml
@@ -136,7 +136,7 @@ subcomponents:
kwargs: {}
parameters:
depth:
- function: getDim(x, 'height')
+ function: '60'
parameter: brains
length:
parameter: length
diff --git a/rocolib/output/.DS_Store b/rocolib/output/.DS_Store
index 2f66512b8dbf4be042193fffe5ca7117e64c5a6b..192fc1695f4b31c8d7f28ad8817ec8c110761fef 100644
Binary files a/rocolib/output/.DS_Store and b/rocolib/output/.DS_Store differ
diff --git a/rocolib/output/PaddleboatWithCamera/graph-anim.svg b/rocolib/output/PaddleboatWithCamera/graph-anim.svg
index 4a1d723f1bc93368a54fac57c4d011e60f513e80..d908c09491811dabc891e12c87977bd7f22073b9 100644
--- a/rocolib/output/PaddleboatWithCamera/graph-anim.svg
+++ b/rocolib/output/PaddleboatWithCamera/graph-anim.svg
@@ -1,180 +1,206 @@
<?xml version="1.0" encoding="utf-8" ?>
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+<svg xmlns="http://www.w3.org/2000/svg" xmlns:ev="http://www.w3.org/2001/xml-events" xmlns:xlink="http://www.w3.org/1999/xlink" baseProfile="full" height="234.031242mm" version="1.1" viewBox="0.000000 0.000000 498.000000 234.031242" width="498.000000mm">
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diff --git a/rocolib/output/PaddleboatWithCamera/graph-autofold-default.dxf b/rocolib/output/PaddleboatWithCamera/graph-autofold-default.dxf
index def697e49281c98ab943664b2b4026a187aeb357..86f11bf0c6084706be4dbf9874576e1070326765 100644
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diff --git a/rocolib/output/PaddleboatWithCamera/graph-autofold-graph.dxf b/rocolib/output/PaddleboatWithCamera/graph-autofold-graph.dxf
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diff --git a/rocolib/output/PaddleboatWithCamera/graph-lasercutter.svg b/rocolib/output/PaddleboatWithCamera/graph-lasercutter.svg
index ff0490ee00a1f2fa201c94a4b212574738001b54..ff1c9cedd43fee350c3a66dc517752f0e95cae63 100644
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diff --git a/rocolib/output/PaddleboatWithCamera/tree.png b/rocolib/output/PaddleboatWithCamera/tree.png
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