From 2d5b4b462741ffec9efa90958158b8672bd3aa64 Mon Sep 17 00:00:00 2001
From: pjil27 <jillpantigcs@gmail.com>
Date: Sun, 17 Oct 2021 14:49:23 -0700
Subject: [PATCH] Adding new pivot and differential car (redo)
---
rocolib/builders/BoatBaseBuilder.py | 15 +
rocolib/builders/CentipedeBuilder.py | 98 +++++
rocolib/builders/HalfCarBuilder.py | 90 +++++
rocolib/builders/HingeServoBuilder.py | 43 +++
rocolib/builders/NWheeledCarBuilder.py | 38 ++
rocolib/builders/PivotCarBuilder.py | 74 ++++
rocolib/library/Centipede.yaml | 493 +++++++++++++++++++++++++
rocolib/library/HalfCar.py | 12 +
rocolib/library/HalfCar.yaml | 420 +++++++++++++++++++++
rocolib/library/HingeServo.yaml | 209 +++++++++++
rocolib/library/NWheeledCar.py | 13 +
rocolib/library/NWheeledCar.yaml | 122 ++++++
rocolib/library/PivotCar.yaml | 201 ++++++++++
rocolib/library/RightTriangle.py | 28 ++
rocolib/library/Tire.py | 70 ++++
15 files changed, 1926 insertions(+)
create mode 100644 rocolib/builders/BoatBaseBuilder.py
create mode 100644 rocolib/builders/CentipedeBuilder.py
create mode 100644 rocolib/builders/HalfCarBuilder.py
create mode 100644 rocolib/builders/HingeServoBuilder.py
create mode 100644 rocolib/builders/NWheeledCarBuilder.py
create mode 100644 rocolib/builders/PivotCarBuilder.py
create mode 100644 rocolib/library/Centipede.yaml
create mode 100644 rocolib/library/HalfCar.py
create mode 100644 rocolib/library/HalfCar.yaml
create mode 100644 rocolib/library/HingeServo.yaml
create mode 100644 rocolib/library/NWheeledCar.py
create mode 100644 rocolib/library/NWheeledCar.yaml
create mode 100644 rocolib/library/PivotCar.yaml
create mode 100644 rocolib/library/RightTriangle.py
create mode 100644 rocolib/library/Tire.py
diff --git a/rocolib/builders/BoatBaseBuilder.py b/rocolib/builders/BoatBaseBuilder.py
new file mode 100644
index 0000000..6007f07
--- /dev/null
+++ b/rocolib/builders/BoatBaseBuilder.py
@@ -0,0 +1,15 @@
+from rocolib.api.components.Component import Component
+
+c = Component()
+
+c.addSubcomponent("boat","SimpleUChannel", inherit=True)
+c.addSubcomponent("bow","BoatPoint", inherit=True)
+c.addSubcomponent("stern","BoatPoint", inherit=True)
+
+c.join(("boat", "top"), ("bow", "edge"))
+c.join(("boat", "bot"), ("stern", "edge"))
+
+c.inheritInterface("portedge", ("boat", "ledge"))
+c.inheritInterface("staredge", ("boat", "redge"))
+
+c.toLibrary("BoatBase")
diff --git a/rocolib/builders/CentipedeBuilder.py b/rocolib/builders/CentipedeBuilder.py
new file mode 100644
index 0000000..5e275f2
--- /dev/null
+++ b/rocolib/builders/CentipedeBuilder.py
@@ -0,0 +1,98 @@
+from rocolib.api.components.Component import Component
+
+c = Component()
+
+#NEEDS CLEANING
+#Don't change n yet, haven't figured out how to make it n-wheeled
+#8-Wheeled Pivot Car
+n = 3 #(number of wheels - 1)/2
+c.addParameter("length", 76, paramType="length", minValue=76) #tested minValue
+c.addParameter("height", 36, paramType="length", minValue=36) #tested minValue
+c.addParameter("width", 60, paramType="length", minValue=60) #tested minValue
+
+for i in range(n - 1):
+ c.addSubcomponent("front%d" %i, "HalfCar")
+ c.addConstraint(("front%d" %i, "length"), "length")
+ c.addConstraint(("front%d" %i, "height"), "height")
+ c.addConstraint(("front%d" %i, "width"), "width")
+ c.addSubcomponent("middle%d" %i, "HalfCar")
+ c.addConstraint(("middle%d" %i, "length"), "length")
+ c.addConstraint(("middle%d" %i, "height"), "height")
+ c.addConstraint(("middle%d" %i, "width"), "width")
+
+#Main component of steering wheel car which makes them moveable: trapezoid that connects the two half of the car
+for i in range(4 * n):
+ c.addSubcomponent("midsupport%d" %i, "Trapezoid")
+ c.addConstraint(("midsupport%d" %i, "width"), "width", "x-10")
+ c.addConstraint(("midsupport%d" %i, "depth"), "width", "x-37")
+ c.addConstraint(("midsupport%d" %i, "bangle"), "width",
+ "float(np.atan((x-37)/5)* 180 * 0.318309)")
+
+c.addConnection(("middle1", "rect4.l"), ("midsupport0", "botedge"))
+c.addConnection(("middle1", "rect4.r"), ("midsupport1", "botedge"))
+c.addConnection(("front1", "rect4.l"), ("midsupport2", "botedge"))
+
+c.addConnection(("middle1", "rect3.r"), ("midsupport3", "botedge"))
+c.addConnection(("middle1", "rect3.l"), ("midsupport4", "botedge"))
+c.addConnection(("front1", "rect3.l"), ("midsupport5", "botedge"))
+
+c.addConnection(("middle0", "rect4.l"), ("midsupport6", "botedge"))
+c.addConnection(("middle0", "rect4.r"), ("midsupport7", "botedge"))
+c.addConnection(("front0", "rect4.l"), ("midsupport8", "botedge"))
+
+c.addConnection(("middle0", "rect3.r"), ("midsupport9", "botedge"))
+c.addConnection(("middle0", "rect3.l"), ("midsupport10", "botedge"))
+c.addConnection(("front0", "rect3.l"), ("midsupport11", "botedge"))
+
+c.addConnection(("midsupport4", "topedge"), ("midsupport5", "topedge"))
+c.addConnection(("midsupport10", "topedge"), ("midsupport11", "topedge"))
+c.addConnection(("midsupport9", "topedge"), ("midsupport3", "topedge"))
+
+#Putting the brains in front component of the car
+c.addParameter("brains", "esp32stack", paramType="dimension")
+c.addParameter("driveservo", "fs90r", paramType="dimension")
+
+for i in range(2):
+ c.addSubcomponent("split%d" %i, "SplitEdge")
+ c.addConstraint(("split%d" % i, "toplength"), "length", '(x,)')
+ c.addConstraint(("split%d" % i, "botlength"), ("length", "height"),
+ '(x[1], x[0]-x[1])')
+ c.addSubcomponent("holder%d" %i, "ESP32Stack")
+ c.addConstraint(("holder%d" %i, "length"), "width")
+ c.addConstraint(("holder%d" %i, "heightChanger"), ("brains", "height"), ("x[1] - getDim(x[0], 'height')"))
+ c.addConstraint(("holder%d" %i, "length"), "width")
+
+c.addConnection(("front0", "rect3.t"), ("split0", "topedge0"))
+c.addConnection(("front1", "rect3.t"), ("split1", "topedge0"))
+
+c.addConnection(("holder0", "rect2.t"), ("front0", "rect2.r"), angle=-90)
+c.addConnection(("holder1", "rect2.t"), ("front1", "rect2.r"), angle=-90)
+
+#Putting servo hinge between cars
+for i in range(3):
+ c.addSubcomponent("hinge%d" %i, "HingeServo")
+ c.addConstraint(("hinge%d" % i, "length"), "length")
+ c.addConstraint(("hinge%d" % i, "width"), "width")
+ c.addSubcomponent("hingeSplit%d" %i, "SplitEdge")
+ c.addConstraint(("hingeSplit%d" %i, "toplength"), "height", '(x,)')
+ c.addConstraint(("hingeSplit%d" %i, "botlength"), ("height", "driveservo"),
+ '((x[0]-getDim(x[1], "motorheight"))/2, getDim(x[1], "motorheight"), '
+ '(x[0]-getDim(x[1], "motorheight"))/2)')
+
+c.addSubcomponent("rectAssist", "Rectangle")
+c.addConstraint(("rectAssist", "l"), "driveservo", 'getDim(x, "motorheight")')
+c.addConstraint(("rectAssist", "w"), "length")
+
+c.addConnection(("front0", "rect1.r"), ("hingeSplit0", "topedge0"))
+c.addConnection(("hingeSplit0", "botedge1"), ("hinge0", "belt2.r"), angle=-90)
+
+c.addConnection(("middle1", "rect1.r"), ("hingeSplit1", "topedge0"))
+c.addConnection(("hingeSplit1", "botedge1"), ("hinge1", "belt2.r"), angle=-90)
+
+c.addConnection(("middle0", "rect2.r"), ("hingeSplit2", "topedge0"))
+c.addConnection(("hingeSplit2", "botedge1"), ("rectAssist", "t"), angle=-180)
+c.addConnection(("rectAssist", "b"), ("hinge2", "belt0.r"), angle=90)
+
+# c.addConnection(("hinge0", "servo.mount"), ("midsupport4", "face0"))
+
+c.toLibrary("Centipede")
diff --git a/rocolib/builders/HalfCarBuilder.py b/rocolib/builders/HalfCarBuilder.py
new file mode 100644
index 0000000..f4538c9
--- /dev/null
+++ b/rocolib/builders/HalfCarBuilder.py
@@ -0,0 +1,90 @@
+from rocolib.api.components.Component import Component
+
+c = Component()
+
+#Parameters for the sheath that would cover the wheels and the ESP32 Stack
+#Parameters that will change the dimension of the car
+c.addParameter("length", 76, paramType="length", minValue=65) #tested minValue
+c.addParameter("height", 36, paramType="length", minValue=36) #tested minValue
+c.addParameter("width", 60, paramType="length", minValue=60) #tested minValue
+
+#This car will use the customized ESP32 stack in dimensions.py and the FS90R servo
+#Change here if you have another board
+c.addParameter("driveservo", "fs90r", paramType="dimension")
+c.addParameter("brains", "esp32stack", paramType="dimension")
+
+#Cover/body of the car (I needed one that folds -90; will try on SimpleRectBeam)
+for i in range(1, 3):
+ c.addSubcomponent("rect%d" %i, "Rectangle")
+ c.addConstraint(("rect%d" %i, "l"), "length")
+ c.addConstraint(("rect%d" %i, "w"), "height")
+
+for i in range(3, 5):
+ c.addSubcomponent("rect%d" %i, "Rectangle")
+ c.addConstraint(("rect%d" %i, "l"), "length")
+ c.addConstraint(("rect%d" %i, "w"), "width")
+
+#TODO: ADD TABS FOR ATTACHMENT
+# c.addConnection(("rect2", "b"), ("rect3", "t"), angle=90)
+c.addConnection(("rect3", "b"), ("rect1", "b"), angle=-90)
+c.addConnection(("rect2", "b"), ("rect4", "b"), angle=-90)
+c.addConnection(("rect4", "t"), ("rect1", "t"), angle=-90)
+
+#Attaching servos to the car
+c.addSubcomponent("rect0", "Rectangle")
+c.addConstraint(("rect0", "l"), ("height", "driveservo"), "x[0]-getDim(x[1], 'motorwidth')")
+c.addConstraint(("rect0", "w"), "driveservo", "getDim(x, 'motorwidth')")
+
+c.addSubcomponent("sheathsplit", "SplitEdge")
+c.addConstraint(("sheathsplit", "toplength"), "length", "(x,)")
+c.addConstraint(("sheathsplit", "botlength"), ("length", "driveservo"), "(x[0] * 0.0691, getDim(x[1], 'motorwidth'), "
+ "(x[0]-(getDim(x[1], 'motorwidth') + x[0] * 0.0691)))")
+
+c.addConnection(("sheathsplit", "topedge0"), ("rect2", "t"))
+c.addConnection(("sheathsplit", "botedge1"), ("rect0", "r"), angle=180)
+
+for i in range(2):
+ c.addSubcomponent("rTriangle%d" %i, "RightTriangle")
+ c.addConstraint(("rTriangle%d" %i, "base"), "driveservo", "getDim(x, 'motorwidth')")
+ c.addConstraint(("rTriangle%d" %i, "height"), "driveservo", "getDim(x, 'motorwidth')")
+
+c.addConnection(("rect0", "l"), ("rTriangle0", "bedge"))
+c.addConnection(("rTriangle0", "hedge"), ("rTriangle1", "hedge"), angle=180)
+
+#Four wheels using Wheel.yaml
+c.addSubcomponent("fleft", "Wheel", invert=True, inherit="angle")
+c.addSubcomponent("bright", "Wheel", invert=True, inherit="angle")
+
+#Setting the parameters for the Wheels
+for servo in ("bright", "fleft"):
+ c.addConstraint((servo, "servo"), "driveservo")
+ c.addConstraint((servo, "length"), ("length", "brains"), '((x[0] - getDim(x[1], "width")))')
+ c.addConstConstraint((servo, "center"), False)
+ c.addConstraint((servo, "radius"), "brains", '(getDim(x, "height") / 1.35)')
+
+#Support for the middle of the front and back wheels so that they won't collapse or wiggle
+for i in range(1, 3):
+ c.addSubcomponent("between%d" %i, "SimpleRectBeam")
+ c.addConstraint(("between%d" %i, "length"), ("width", "driveservo"), "x[0]- 2 * getDim(x[1], 'motorheight')")
+ c.addConstraint(("between%d" % i, "depth"), "driveservo", "getDim(x, 'motorwidth')")
+ c.addConstraint(("between%d" % i, "width"), "driveservo", "getDim(x, 'motorwidth')")
+
+#Back between support
+c.addConnection(("fleft", "topedge2"), ("between1", "topedge1"), angle=90)
+c.addConnection(("between1", "botedge1"), ("bright", "botedge2"), angle=90)
+c.addConnection(("between2", "topedge1"), ("bright", "topedge2"), angle=90)
+c.addConnection(("between2", "botedge1"), ("fleft", "botedge2"), angle=90, tabWidth=10)
+
+# Flipping right wheels to match the orientation of left wheels
+c.addConstConstraint(("bright", "flip"), True)
+
+c.addConnection(("rTriangle1", "bedge"), ("fleft", "botedge0"))
+
+c.inheritAllInterfaces("fleft")
+c.inheritAllInterfaces("bright")
+c.inheritAllInterfaces("rect1")
+c.inheritAllInterfaces("rect2")
+c.inheritAllInterfaces("rect3")
+c.inheritAllInterfaces("rect4")
+
+c.toLibrary("HalfCar")
\ No newline at end of file
diff --git a/rocolib/builders/HingeServoBuilder.py b/rocolib/builders/HingeServoBuilder.py
new file mode 100644
index 0000000..76b4c2d
--- /dev/null
+++ b/rocolib/builders/HingeServoBuilder.py
@@ -0,0 +1,43 @@
+
+from rocolib.api.components.Component import Component
+
+c = Component()
+
+c.addParameter("length", 76, paramType="length", minValue=65) #tested minValue
+c.addParameter("width", 60, paramType="length", minValue=60) #tested minValue
+
+c.addSubcomponent("servo", "MountedServo")
+c.addParameter("driveservo", "fs90r", paramType="dimension")
+c.addConstraint(("servo", "servo"), "driveservo")
+c.addConstraint(("servo", "length"), "driveservo", 'getDim(x, "motorlength") + 2 * getDim(x, "shoulderlength")')
+c.addConstConstraint(("servo", "center"), False)
+
+for i in range(5):
+ c.addSubcomponent("belt%d" %i, "Rectangle")
+ c.addConstraint(("belt%d"%i, "w"), "driveservo", 'getDim(x, "motorheight")')
+
+for i in range(3):
+ c.addConstraint(("belt%d"%i, "l"), ("width", "driveservo"), "(x[0]-getDim(x[1], 'motorwidth'))/2")
+
+for i in range(3, 5):
+ c.addConstraint(("belt%d" % i, "l"), "driveservo", 'getDim(x, "motorlength") + 2 * getDim(x, "shoulderlength")')
+
+# for i in range(6, 10):
+# c.addConstraint(("belt%d"%i, "l"), "length")
+
+c.addConnection(("servo", "botedge3"), ("belt0", "l"), angle=-90)
+c.addConnection(("servo", "botedge1"), ("belt1", "l"), angle=-90)
+c.addConnection(("servo", "topedge1"), ("belt3", "l"), angle=-180)
+c.addConnection(("servo", "topedge3"), ("belt4", "l"), angle=-180)
+c.addConnection(("belt2", "l"), ("belt4", "r"), angle=90)
+
+# c.addConnection(("belt0", "r"), ("belt6", "l"), angle=90)
+# c.addConnection(("belt1", "r"), ("belt7", "l"), angle=90)
+# c.addConnection(("belt2", "r"), ("belt8", "l"), angle=-90)
+# c.addConnection(("belt3", "r"), ("belt9", "l"), angle=-90)
+
+c.inheritAllInterfaces("servo")
+for i in range(3):
+ c.inheritAllInterfaces("belt%d" %i)
+
+c.toLibrary("HingeServo")
\ No newline at end of file
diff --git a/rocolib/builders/NWheeledCarBuilder.py b/rocolib/builders/NWheeledCarBuilder.py
new file mode 100644
index 0000000..020c965
--- /dev/null
+++ b/rocolib/builders/NWheeledCarBuilder.py
@@ -0,0 +1,38 @@
+from rocolib.api.components.Component import Component
+
+c = Component()
+#N-WHEELED CAR (10-wheeed car)
+#Probably need to additional microcontroller in the middle for N > 8
+n = 4 #(number of wheels/2) - 1
+c.addParameter("length", 76, paramType="length", minValue=76) #tested minValue
+c.addParameter("height", 36, paramType="length", minValue=36) #tested minValue
+c.addParameter("width", 60, paramType="length", minValue=60) #tested minValue
+
+c.addSubcomponent("front", "HalfCar") #must always have a front car for the brains
+c.addConstraint(("front", "length"), "length")
+c.addConstraint(("front", "height"), "height")
+c.addConstraint(("front", "width"), "width")
+
+#Connecting Each Car
+for i in range(n):
+ c.addSubcomponent("car%d" %i, "HalfCar")
+ c.addConstraint(("car%d" %i, "length"), "length")
+ c.addConstraint(("car%d" %i, "height"), "height")
+ c.addConstraint(("car%d" %i, "width"), "width")
+
+for i in range(n - 1):
+ c.addConnection(("car%d" %i, "rect4.l"), ("car%d" %(i+1), "rect4.r"))
+
+c.addConnection(("front", "rect4.l"), ("car%d" %(n-1), "rect4.l"))
+
+#Putting the brains in the front of the car
+c.addParameter("brains", "esp32stack", paramType="dimension")
+c.addParameter("driveservo", "fs90r", paramType="dimension")
+c.addSubcomponent("holder", "ESP32Stack")
+
+c.addConstraint(("holder", "heightChanger"), ("brains", "height"), ("x[1] - getDim(x[0], 'height')"))
+c.addConstraint(("holder", "length"), "width")
+
+c.addConnection(("holder", "rect2.t"), ("front", "rect2.l"), angle=-90)
+
+c.toLibrary("NWheeledCar")
diff --git a/rocolib/builders/PivotCarBuilder.py b/rocolib/builders/PivotCarBuilder.py
new file mode 100644
index 0000000..ede468d
--- /dev/null
+++ b/rocolib/builders/PivotCarBuilder.py
@@ -0,0 +1,74 @@
+from rocolib.api.components.Component import Component
+
+c = Component()
+
+#NEEDS CLEANING
+#Don't change n yet, haven't figured out how to make it n-wheeled
+#4-wheeled pivot car
+n = 2
+c.addParameter("length", 76, paramType="length", minValue=76) #tested minValue
+c.addParameter("height", 36, paramType="length", minValue=36) #tested minValue
+c.addParameter("width", 60, paramType="length", minValue=60) #tested minValue
+
+for i in range(n - 1):
+ c.addSubcomponent("front%d" % i, "HalfCar")
+ c.addConstraint(("front%d" % i, "length"), "length")
+ c.addConstraint(("front%d" % i, "height"), "height")
+ c.addConstraint(("front%d" % i, "width"), "width")
+ c.addSubcomponent("middle%d" % i, "HalfCar")
+ c.addConstraint(("middle%d" % i, "length"), "length")
+ c.addConstraint(("middle%d" % i, "height"), "height")
+ c.addConstraint(("middle%d" % i, "width"), "width")
+
+#Main component of steering wheel car which makes them moveable: trapezoid that connects the two half of the car
+for i in range(4):
+ c.addSubcomponent("midsupport%d" %i, "Trapezoid")
+ c.addConstraint(("midsupport%d" %i, "width"), "width", "x-10")
+ c.addConstraint(("midsupport%d" %i, "depth"), "width", "x-37")
+ c.addConstraint(("midsupport%d" %i, "bangle"), "width",
+ "float(np.atan((x-37)/5)* 180 * 0.318309)")
+
+c.addConnection(("middle0", "rect4.l"), ("midsupport0", "botedge"))
+c.addConnection(("front0", "rect4.l"), ("midsupport1", "botedge"))
+
+c.addConnection(("middle0", "rect3.l"), ("midsupport2", "botedge"))
+c.addConnection(("front0", "rect3.l"), ("midsupport3", "botedge"))
+
+c.addConnection(("midsupport2", "topedge"), ("midsupport3", "topedge"))
+
+#Putting the brains in front component of the car
+c.addParameter("brains", "esp32stack", paramType="dimension")
+c.addParameter("driveservo", "fs90r", paramType="dimension")
+
+for i in range(1):
+ c.addSubcomponent("split%d" % i, "SplitEdge")
+ c.addConstraint(("split%d" % i, "toplength"), "length", '(x,)')
+ c.addConstraint(("split%d" % i, "botlength"), ("length", "height"),
+ '(x[1], x[0]-x[1])')
+ c.addSubcomponent("holder%d" % i, "ESP32Stack")
+ c.addConstraint(("holder%d" % i, "length"), "width")
+ c.addConstraint(("holder%d" % i, "heightChanger"), ("brains", "height"), ("x[1] - getDim(x[0], 'height')"))
+ c.addConstraint(("holder%d" % i, "length"), "width")
+
+c.addConnection(("front0", "rect3.t"), ("split0", "topedge0"))
+
+c.addConnection(("holder0", "rect2.t"), ("front0", "rect2.r"), angle=-90)
+
+#Putting servo hinge between cars
+for i in range(1):
+ c.addSubcomponent("hinge%d" % i, "HingeServo")
+ c.addConstraint(("hinge%d" % i, "length"), "length")
+ c.addConstraint(("hinge%d" % i, "width"), "width")
+ c.addSubcomponent("hingeSplit%d" % i, "SplitEdge")
+ c.addConstraint(("hingeSplit%d" % i, "toplength"), "height", '(x,)')
+ c.addConstraint(("hingeSplit%d" % i, "botlength"), ("height", "driveservo"),
+ '((x[0]-getDim(x[1], "motorheight"))/2, getDim(x[1], "motorheight"), '
+ '(x[0]-getDim(x[1], "motorheight"))/2)')
+
+c.addConnection(("front0", "rect1.r"), ("hingeSplit0", "topedge0"))
+c.addConnection(("hingeSplit0", "botedge1"), ("hinge0", "belt2.r"), angle=-90)
+
+#Attach hinge on face of Trapezoid to move in Webots
+# c.addConnection(("hinge0", "servo.mount"), ("midsupport4", "face0"))
+
+c.toLibrary("PivotCar")
diff --git a/rocolib/library/Centipede.yaml b/rocolib/library/Centipede.yaml
new file mode 100644
index 0000000..11608fb
--- /dev/null
+++ b/rocolib/library/Centipede.yaml
@@ -0,0 +1,493 @@
+connections:
+ connection0:
+ - - middle1
+ - rect4.l
+ - - midsupport0
+ - botedge
+ - {}
+ connection1:
+ - - middle1
+ - rect4.r
+ - - midsupport1
+ - botedge
+ - {}
+ connection10:
+ - - middle0
+ - rect3.l
+ - - midsupport10
+ - botedge
+ - {}
+ connection11:
+ - - front0
+ - rect3.l
+ - - midsupport11
+ - botedge
+ - {}
+ connection12:
+ - - midsupport4
+ - topedge
+ - - midsupport5
+ - topedge
+ - {}
+ connection13:
+ - - midsupport10
+ - topedge
+ - - midsupport11
+ - topedge
+ - {}
+ connection14:
+ - - midsupport9
+ - topedge
+ - - midsupport3
+ - topedge
+ - {}
+ connection15:
+ - - front0
+ - rect3.t
+ - - split0
+ - topedge0
+ - {}
+ connection16:
+ - - front1
+ - rect3.t
+ - - split1
+ - topedge0
+ - {}
+ connection17:
+ - - holder0
+ - rect2.t
+ - - front0
+ - rect2.r
+ - angle: -90
+ connection18:
+ - - holder1
+ - rect2.t
+ - - front1
+ - rect2.r
+ - angle: -90
+ connection19:
+ - - front0
+ - rect1.r
+ - - hingeSplit0
+ - topedge0
+ - {}
+ connection2:
+ - - front1
+ - rect4.l
+ - - midsupport2
+ - botedge
+ - {}
+ connection20:
+ - - hingeSplit0
+ - botedge1
+ - - hinge0
+ - belt2.r
+ - angle: -90
+ connection21:
+ - - middle1
+ - rect1.r
+ - - hingeSplit1
+ - topedge0
+ - {}
+ connection22:
+ - - hingeSplit1
+ - botedge1
+ - - hinge1
+ - belt2.r
+ - angle: -90
+ connection23:
+ - - middle0
+ - rect2.r
+ - - hingeSplit2
+ - topedge0
+ - {}
+ connection24:
+ - - hingeSplit2
+ - botedge1
+ - - rectAssist
+ - t
+ - angle: -180
+ connection25:
+ - - rectAssist
+ - b
+ - - hinge2
+ - belt0.r
+ - angle: 90
+ connection3:
+ - - middle1
+ - rect3.r
+ - - midsupport3
+ - botedge
+ - {}
+ connection4:
+ - - middle1
+ - rect3.l
+ - - midsupport4
+ - botedge
+ - {}
+ connection5:
+ - - front1
+ - rect3.l
+ - - midsupport5
+ - botedge
+ - {}
+ connection6:
+ - - middle0
+ - rect4.l
+ - - midsupport6
+ - botedge
+ - {}
+ connection7:
+ - - middle0
+ - rect4.r
+ - - midsupport7
+ - botedge
+ - {}
+ connection8:
+ - - front0
+ - rect4.l
+ - - midsupport8
+ - botedge
+ - {}
+ connection9:
+ - - middle0
+ - rect3.r
+ - - midsupport9
+ - botedge
+ - {}
+interfaces: {}
+parameters:
+ brains:
+ defaultValue: esp32stack
+ spec:
+ valueType: str
+ driveservo:
+ defaultValue: fs90r
+ spec:
+ valueType: str
+ height:
+ defaultValue: 36
+ spec:
+ minValue: 36
+ units: mm
+ valueType: (float, int)
+ length:
+ defaultValue: 76
+ spec:
+ minValue: 76
+ units: mm
+ valueType: (float, int)
+ width:
+ defaultValue: 60
+ spec:
+ minValue: 60
+ units: mm
+ valueType: (float, int)
+source: ..\builders\CentipedeBuilder.py
+subcomponents:
+ front0:
+ classname: HalfCar
+ kwargs: {}
+ parameters:
+ height:
+ parameter: height
+ length:
+ parameter: length
+ width:
+ parameter: width
+ front1:
+ classname: HalfCar
+ kwargs: {}
+ parameters:
+ height:
+ parameter: height
+ length:
+ parameter: length
+ width:
+ parameter: width
+ hinge0:
+ classname: HingeServo
+ kwargs: {}
+ parameters:
+ length:
+ parameter: length
+ width:
+ parameter: width
+ hinge1:
+ classname: HingeServo
+ kwargs: {}
+ parameters:
+ length:
+ parameter: length
+ width:
+ parameter: width
+ hinge2:
+ classname: HingeServo
+ kwargs: {}
+ parameters:
+ length:
+ parameter: length
+ width:
+ parameter: width
+ hingeSplit0:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: ((x[0]-getDim(x[1], "motorheight"))/2, getDim(x[1], "motorheight"),
+ (x[0]-getDim(x[1], "motorheight"))/2)
+ parameter: &id001
+ - height
+ - driveservo
+ toplength:
+ function: (x,)
+ parameter: height
+ hingeSplit1:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: ((x[0]-getDim(x[1], "motorheight"))/2, getDim(x[1], "motorheight"),
+ (x[0]-getDim(x[1], "motorheight"))/2)
+ parameter: *id001
+ toplength:
+ function: (x,)
+ parameter: height
+ hingeSplit2:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: ((x[0]-getDim(x[1], "motorheight"))/2, getDim(x[1], "motorheight"),
+ (x[0]-getDim(x[1], "motorheight"))/2)
+ parameter: *id001
+ toplength:
+ function: (x,)
+ parameter: height
+ holder0:
+ classname: ESP32Stack
+ kwargs: {}
+ parameters:
+ heightChanger:
+ function: x[1] - getDim(x[0], 'height')
+ parameter: &id002
+ - brains
+ - height
+ length:
+ parameter: width
+ holder1:
+ classname: ESP32Stack
+ kwargs: {}
+ parameters:
+ heightChanger:
+ function: x[1] - getDim(x[0], 'height')
+ parameter: *id002
+ length:
+ parameter: width
+ middle0:
+ classname: HalfCar
+ kwargs: {}
+ parameters:
+ height:
+ parameter: height
+ length:
+ parameter: length
+ width:
+ parameter: width
+ middle1:
+ classname: HalfCar
+ kwargs: {}
+ parameters:
+ height:
+ parameter: height
+ length:
+ parameter: length
+ width:
+ parameter: width
+ midsupport0:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ midsupport1:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ midsupport10:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ midsupport11:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ midsupport2:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ midsupport3:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ midsupport4:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ midsupport5:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ midsupport6:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ midsupport7:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ midsupport8:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ midsupport9:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ rectAssist:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ function: getDim(x, "motorheight")
+ parameter: driveservo
+ w:
+ parameter: length
+ split0:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: (x[1], x[0]-x[1])
+ parameter: &id003
+ - length
+ - height
+ toplength:
+ function: (x,)
+ parameter: length
+ split1:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: (x[1], x[0]-x[1])
+ parameter: *id003
+ toplength:
+ function: (x,)
+ parameter: length
diff --git a/rocolib/library/HalfCar.py b/rocolib/library/HalfCar.py
new file mode 100644
index 0000000..3becff5
--- /dev/null
+++ b/rocolib/library/HalfCar.py
@@ -0,0 +1,12 @@
+from rocolib.api.components import Component
+from rocolib.utils.utils import copyDecorations2
+
+class HalfCar(Component):
+ def assemble(self):
+ copyDecorations2(self, ("fleftservoface", ("fleft", "face0", -1)),
+ ("fleftservosheath", ("rect2", "face", 0)), 90)
+ copyDecorations2(self, ("brightservoface", ("fleft", "face0", 0)),
+ ("brightservosheath", ("rect1", "face", 1)), 90)
+
+if __name__ == "__main__":
+ HalfCar.test()
diff --git a/rocolib/library/HalfCar.yaml b/rocolib/library/HalfCar.yaml
new file mode 100644
index 0000000..661a005
--- /dev/null
+++ b/rocolib/library/HalfCar.yaml
@@ -0,0 +1,420 @@
+connections:
+ connection0:
+ - - rect3
+ - b
+ - - rect1
+ - b
+ - angle: -90
+ connection1:
+ - - rect2
+ - b
+ - - rect4
+ - b
+ - angle: -90
+ connection10:
+ - - between2
+ - botedge1
+ - - fleft
+ - botedge2
+ - angle: 90
+ tabWidth: 10
+ connection11:
+ - - rTriangle1
+ - bedge
+ - - fleft
+ - botedge0
+ - {}
+ connection2:
+ - - rect4
+ - t
+ - - rect1
+ - t
+ - angle: -90
+ connection3:
+ - - sheathsplit
+ - topedge0
+ - - rect2
+ - t
+ - {}
+ connection4:
+ - - sheathsplit
+ - botedge1
+ - - rect0
+ - r
+ - angle: 180
+ connection5:
+ - - rect0
+ - l
+ - - rTriangle0
+ - bedge
+ - {}
+ connection6:
+ - - rTriangle0
+ - hedge
+ - - rTriangle1
+ - hedge
+ - angle: 180
+ connection7:
+ - - fleft
+ - topedge2
+ - - between1
+ - topedge1
+ - angle: 90
+ connection8:
+ - - between1
+ - botedge1
+ - - bright
+ - botedge2
+ - angle: 90
+ connection9:
+ - - between2
+ - topedge1
+ - - bright
+ - topedge2
+ - angle: 90
+interfaces:
+ bright.botedge0:
+ interface: botedge0
+ subcomponent: bright
+ bright.botedge1:
+ interface: botedge1
+ subcomponent: bright
+ bright.botedge2:
+ interface: botedge2
+ subcomponent: bright
+ bright.botedge3:
+ interface: botedge3
+ subcomponent: bright
+ bright.face0:
+ interface: face0
+ subcomponent: bright
+ bright.face1:
+ interface: face1
+ subcomponent: bright
+ bright.face2:
+ interface: face2
+ subcomponent: bright
+ bright.face3:
+ interface: face3
+ subcomponent: bright
+ bright.horn:
+ interface: horn
+ subcomponent: bright
+ bright.mount:
+ interface: mount
+ subcomponent: bright
+ bright.mount.decoration:
+ interface: mount.decoration
+ subcomponent: bright
+ bright.slotedge:
+ interface: slotedge
+ subcomponent: bright
+ bright.tabedge:
+ interface: tabedge
+ subcomponent: bright
+ bright.topedge0:
+ interface: topedge0
+ subcomponent: bright
+ bright.topedge1:
+ interface: topedge1
+ subcomponent: bright
+ bright.topedge2:
+ interface: topedge2
+ subcomponent: bright
+ bright.topedge3:
+ interface: topedge3
+ subcomponent: bright
+ fleft.botedge0:
+ interface: botedge0
+ subcomponent: fleft
+ fleft.botedge1:
+ interface: botedge1
+ subcomponent: fleft
+ fleft.botedge2:
+ interface: botedge2
+ subcomponent: fleft
+ fleft.botedge3:
+ interface: botedge3
+ subcomponent: fleft
+ fleft.face0:
+ interface: face0
+ subcomponent: fleft
+ fleft.face1:
+ interface: face1
+ subcomponent: fleft
+ fleft.face2:
+ interface: face2
+ subcomponent: fleft
+ fleft.face3:
+ interface: face3
+ subcomponent: fleft
+ fleft.horn:
+ interface: horn
+ subcomponent: fleft
+ fleft.mount:
+ interface: mount
+ subcomponent: fleft
+ fleft.mount.decoration:
+ interface: mount.decoration
+ subcomponent: fleft
+ fleft.slotedge:
+ interface: slotedge
+ subcomponent: fleft
+ fleft.tabedge:
+ interface: tabedge
+ subcomponent: fleft
+ fleft.topedge0:
+ interface: topedge0
+ subcomponent: fleft
+ fleft.topedge1:
+ interface: topedge1
+ subcomponent: fleft
+ fleft.topedge2:
+ interface: topedge2
+ subcomponent: fleft
+ fleft.topedge3:
+ interface: topedge3
+ subcomponent: fleft
+ rect1.b:
+ interface: b
+ subcomponent: rect1
+ rect1.face:
+ interface: face
+ subcomponent: rect1
+ rect1.l:
+ interface: l
+ subcomponent: rect1
+ rect1.r:
+ interface: r
+ subcomponent: rect1
+ rect1.t:
+ interface: t
+ subcomponent: rect1
+ rect2.b:
+ interface: b
+ subcomponent: rect2
+ rect2.face:
+ interface: face
+ subcomponent: rect2
+ rect2.l:
+ interface: l
+ subcomponent: rect2
+ rect2.r:
+ interface: r
+ subcomponent: rect2
+ rect2.t:
+ interface: t
+ subcomponent: rect2
+ rect3.b:
+ interface: b
+ subcomponent: rect3
+ rect3.face:
+ interface: face
+ subcomponent: rect3
+ rect3.l:
+ interface: l
+ subcomponent: rect3
+ rect3.r:
+ interface: r
+ subcomponent: rect3
+ rect3.t:
+ interface: t
+ subcomponent: rect3
+ rect4.b:
+ interface: b
+ subcomponent: rect4
+ rect4.face:
+ interface: face
+ subcomponent: rect4
+ rect4.l:
+ interface: l
+ subcomponent: rect4
+ rect4.r:
+ interface: r
+ subcomponent: rect4
+ rect4.t:
+ interface: t
+ subcomponent: rect4
+parameters:
+ brains:
+ defaultValue: esp32stack
+ spec:
+ valueType: str
+ bright.angle:
+ defaultValue: 0
+ spec:
+ maxValue: null
+ minValue: null
+ units: degrees
+ valueType: (float, int)
+ driveservo:
+ defaultValue: fs90r
+ spec:
+ valueType: str
+ fleft.angle:
+ defaultValue: 0
+ spec:
+ maxValue: null
+ minValue: null
+ units: degrees
+ valueType: (float, int)
+ height:
+ defaultValue: 36
+ spec:
+ minValue: 36
+ units: mm
+ valueType: (float, int)
+ length:
+ defaultValue: 76
+ spec:
+ minValue: 65
+ units: mm
+ valueType: (float, int)
+ width:
+ defaultValue: 60
+ spec:
+ minValue: 60
+ units: mm
+ valueType: (float, int)
+source: ..\builders\HalfCarBuilder.py
+subcomponents:
+ between1:
+ classname: SimpleRectBeam
+ kwargs: {}
+ parameters:
+ depth:
+ function: getDim(x, 'motorwidth')
+ parameter: driveservo
+ length:
+ function: x[0]- 2 * getDim(x[1], 'motorheight')
+ parameter: &id001
+ - width
+ - driveservo
+ width:
+ function: getDim(x, 'motorwidth')
+ parameter: driveservo
+ between2:
+ classname: SimpleRectBeam
+ kwargs: {}
+ parameters:
+ depth:
+ function: getDim(x, 'motorwidth')
+ parameter: driveservo
+ length:
+ function: x[0]- 2 * getDim(x[1], 'motorheight')
+ parameter: *id001
+ width:
+ function: getDim(x, 'motorwidth')
+ parameter: driveservo
+ bright:
+ classname: Wheel
+ kwargs:
+ invert: true
+ parameters:
+ angle:
+ parameter: bright.angle
+ center: false
+ flip: true
+ length:
+ function: ((x[0] - getDim(x[1], "width")))
+ parameter: &id002
+ - length
+ - brains
+ radius:
+ function: (getDim(x, "height") / 1.35)
+ parameter: brains
+ servo:
+ parameter: driveservo
+ fleft:
+ classname: Wheel
+ kwargs:
+ invert: true
+ parameters:
+ angle:
+ parameter: fleft.angle
+ center: false
+ length:
+ function: ((x[0] - getDim(x[1], "width")))
+ parameter: *id002
+ radius:
+ function: (getDim(x, "height") / 1.35)
+ parameter: brains
+ servo:
+ parameter: driveservo
+ rTriangle0:
+ classname: RightTriangle
+ kwargs: {}
+ parameters:
+ base:
+ function: getDim(x, 'motorwidth')
+ parameter: driveservo
+ height:
+ function: getDim(x, 'motorwidth')
+ parameter: driveservo
+ rTriangle1:
+ classname: RightTriangle
+ kwargs: {}
+ parameters:
+ base:
+ function: getDim(x, 'motorwidth')
+ parameter: driveservo
+ height:
+ function: getDim(x, 'motorwidth')
+ parameter: driveservo
+ rect0:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ function: x[0]-getDim(x[1], 'motorwidth')
+ parameter:
+ - height
+ - driveservo
+ w:
+ function: getDim(x, 'motorwidth')
+ parameter: driveservo
+ rect1:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ parameter: length
+ w:
+ parameter: height
+ rect2:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ parameter: length
+ w:
+ parameter: height
+ rect3:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ parameter: length
+ w:
+ parameter: width
+ rect4:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ parameter: length
+ w:
+ parameter: width
+ sheathsplit:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: (x[0] * 0.0691, getDim(x[1], 'motorwidth'), (x[0]-(getDim(x[1],
+ 'motorwidth') + x[0] * 0.0691)))
+ parameter:
+ - length
+ - driveservo
+ toplength:
+ function: (x,)
+ parameter: length
diff --git a/rocolib/library/HingeServo.yaml b/rocolib/library/HingeServo.yaml
new file mode 100644
index 0000000..994d89c
--- /dev/null
+++ b/rocolib/library/HingeServo.yaml
@@ -0,0 +1,209 @@
+connections:
+ connection0:
+ - - servo
+ - botedge3
+ - - belt0
+ - l
+ - angle: -90
+ connection1:
+ - - servo
+ - botedge1
+ - - belt1
+ - l
+ - angle: -90
+ connection2:
+ - - servo
+ - topedge1
+ - - belt3
+ - l
+ - angle: -180
+ connection3:
+ - - servo
+ - topedge3
+ - - belt4
+ - l
+ - angle: -180
+ connection4:
+ - - belt2
+ - l
+ - - belt4
+ - r
+ - angle: 90
+interfaces:
+ belt0.b:
+ interface: b
+ subcomponent: belt0
+ belt0.face:
+ interface: face
+ subcomponent: belt0
+ belt0.l:
+ interface: l
+ subcomponent: belt0
+ belt0.r:
+ interface: r
+ subcomponent: belt0
+ belt0.t:
+ interface: t
+ subcomponent: belt0
+ belt1.b:
+ interface: b
+ subcomponent: belt1
+ belt1.face:
+ interface: face
+ subcomponent: belt1
+ belt1.l:
+ interface: l
+ subcomponent: belt1
+ belt1.r:
+ interface: r
+ subcomponent: belt1
+ belt1.t:
+ interface: t
+ subcomponent: belt1
+ belt2.b:
+ interface: b
+ subcomponent: belt2
+ belt2.face:
+ interface: face
+ subcomponent: belt2
+ belt2.l:
+ interface: l
+ subcomponent: belt2
+ belt2.r:
+ interface: r
+ subcomponent: belt2
+ belt2.t:
+ interface: t
+ subcomponent: belt2
+ servo.botedge0:
+ interface: botedge0
+ subcomponent: servo
+ servo.botedge1:
+ interface: botedge1
+ subcomponent: servo
+ servo.botedge2:
+ interface: botedge2
+ subcomponent: servo
+ servo.botedge3:
+ interface: botedge3
+ subcomponent: servo
+ servo.face0:
+ interface: face0
+ subcomponent: servo
+ servo.face1:
+ interface: face1
+ subcomponent: servo
+ servo.face2:
+ interface: face2
+ subcomponent: servo
+ servo.face3:
+ interface: face3
+ subcomponent: servo
+ servo.horn:
+ interface: horn
+ subcomponent: servo
+ servo.mount:
+ interface: mount
+ subcomponent: servo
+ servo.mount.decoration:
+ interface: mount.decoration
+ subcomponent: servo
+ servo.slotedge:
+ interface: slotedge
+ subcomponent: servo
+ servo.tabedge:
+ interface: tabedge
+ subcomponent: servo
+ servo.topedge0:
+ interface: topedge0
+ subcomponent: servo
+ servo.topedge1:
+ interface: topedge1
+ subcomponent: servo
+ servo.topedge2:
+ interface: topedge2
+ subcomponent: servo
+ servo.topedge3:
+ interface: topedge3
+ subcomponent: servo
+parameters:
+ driveservo:
+ defaultValue: fs90r
+ spec:
+ valueType: str
+ length:
+ defaultValue: 76
+ spec:
+ minValue: 65
+ units: mm
+ valueType: (float, int)
+ width:
+ defaultValue: 60
+ spec:
+ minValue: 60
+ units: mm
+ valueType: (float, int)
+source: HingeServoBuilder.py
+subcomponents:
+ belt0:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ function: (x[0]-getDim(x[1], 'motorwidth'))/2
+ parameter: &id001
+ - width
+ - driveservo
+ w:
+ function: getDim(x, "motorheight")
+ parameter: driveservo
+ belt1:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ function: (x[0]-getDim(x[1], 'motorwidth'))/2
+ parameter: *id001
+ w:
+ function: getDim(x, "motorheight")
+ parameter: driveservo
+ belt2:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ function: (x[0]-getDim(x[1], 'motorwidth'))/2
+ parameter: *id001
+ w:
+ function: getDim(x, "motorheight")
+ parameter: driveservo
+ belt3:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ function: getDim(x, "motorlength") + 2 * getDim(x, "shoulderlength")
+ parameter: driveservo
+ w:
+ function: getDim(x, "motorheight")
+ parameter: driveservo
+ belt4:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ function: getDim(x, "motorlength") + 2 * getDim(x, "shoulderlength")
+ parameter: driveservo
+ w:
+ function: getDim(x, "motorheight")
+ parameter: driveservo
+ servo:
+ classname: MountedServo
+ kwargs: {}
+ parameters:
+ center: false
+ length:
+ function: getDim(x, "motorlength") + 2 * getDim(x, "shoulderlength")
+ parameter: driveservo
+ servo:
+ parameter: driveservo
diff --git a/rocolib/library/NWheeledCar.py b/rocolib/library/NWheeledCar.py
new file mode 100644
index 0000000..dc5caa7
--- /dev/null
+++ b/rocolib/library/NWheeledCar.py
@@ -0,0 +1,13 @@
+from rocolib.api.components import Component
+from rocolib.utils.utils import copyDecorations2
+
+class NWheeledCar(Component):
+ def assemble(self):
+ copyDecorations2(self, ("holderface0", ("holder", "rect4.face", 0)),
+ ("bodyface0", ("front", "rect3.face", 0)), 0)
+ copyDecorations2(self, ("holderface1", ("holder", "rect3.face", 0)),
+ ("bodyface1", ("front", "rect4.face", 0)), 0)
+
+
+if __name__ == "__main__":
+ NWheeledCar.test()
diff --git a/rocolib/library/NWheeledCar.yaml b/rocolib/library/NWheeledCar.yaml
new file mode 100644
index 0000000..3562647
--- /dev/null
+++ b/rocolib/library/NWheeledCar.yaml
@@ -0,0 +1,122 @@
+connections:
+ connection0:
+ - - car0
+ - rect4.l
+ - - car1
+ - rect4.r
+ - {}
+ connection1:
+ - - car1
+ - rect4.l
+ - - car2
+ - rect4.r
+ - {}
+ connection2:
+ - - car2
+ - rect4.l
+ - - car3
+ - rect4.r
+ - {}
+ connection3:
+ - - front
+ - rect4.l
+ - - car3
+ - rect4.l
+ - {}
+ connection4:
+ - - holder
+ - rect2.t
+ - - front
+ - rect2.l
+ - angle: -90
+interfaces: {}
+parameters:
+ brains:
+ defaultValue: esp32stack
+ spec:
+ valueType: str
+ driveservo:
+ defaultValue: fs90r
+ spec:
+ valueType: str
+ height:
+ defaultValue: 36
+ spec:
+ minValue: 36
+ units: mm
+ valueType: (float, int)
+ length:
+ defaultValue: 76
+ spec:
+ minValue: 76
+ units: mm
+ valueType: (float, int)
+ width:
+ defaultValue: 60
+ spec:
+ minValue: 60
+ units: mm
+ valueType: (float, int)
+source: ..\builders\NWheeledCarBuilder.py
+subcomponents:
+ car0:
+ classname: HalfCar
+ kwargs: {}
+ parameters:
+ height:
+ parameter: height
+ length:
+ parameter: length
+ width:
+ parameter: width
+ car1:
+ classname: HalfCar
+ kwargs: {}
+ parameters:
+ height:
+ parameter: height
+ length:
+ parameter: length
+ width:
+ parameter: width
+ car2:
+ classname: HalfCar
+ kwargs: {}
+ parameters:
+ height:
+ parameter: height
+ length:
+ parameter: length
+ width:
+ parameter: width
+ car3:
+ classname: HalfCar
+ kwargs: {}
+ parameters:
+ height:
+ parameter: height
+ length:
+ parameter: length
+ width:
+ parameter: width
+ front:
+ classname: HalfCar
+ kwargs: {}
+ parameters:
+ height:
+ parameter: height
+ length:
+ parameter: length
+ width:
+ parameter: width
+ holder:
+ classname: ESP32Stack
+ kwargs: {}
+ parameters:
+ heightChanger:
+ function: x[1] - getDim(x[0], 'height')
+ parameter:
+ - brains
+ - height
+ length:
+ parameter: width
diff --git a/rocolib/library/PivotCar.yaml b/rocolib/library/PivotCar.yaml
new file mode 100644
index 0000000..be78e52
--- /dev/null
+++ b/rocolib/library/PivotCar.yaml
@@ -0,0 +1,201 @@
+connections:
+ connection0:
+ - - middle0
+ - rect4.l
+ - - midsupport0
+ - botedge
+ - {}
+ connection1:
+ - - front0
+ - rect4.l
+ - - midsupport1
+ - botedge
+ - {}
+ connection2:
+ - - middle0
+ - rect3.l
+ - - midsupport2
+ - botedge
+ - {}
+ connection3:
+ - - front0
+ - rect3.l
+ - - midsupport3
+ - botedge
+ - {}
+ connection4:
+ - - midsupport2
+ - topedge
+ - - midsupport3
+ - topedge
+ - {}
+ connection5:
+ - - front0
+ - rect3.t
+ - - split0
+ - topedge0
+ - {}
+ connection6:
+ - - holder0
+ - rect2.t
+ - - front0
+ - rect2.r
+ - angle: -90
+ connection7:
+ - - front0
+ - rect1.r
+ - - hingeSplit0
+ - topedge0
+ - {}
+ connection8:
+ - - hingeSplit0
+ - botedge1
+ - - hinge0
+ - belt2.r
+ - angle: -90
+interfaces: {}
+parameters:
+ brains:
+ defaultValue: esp32stack
+ spec:
+ valueType: str
+ driveservo:
+ defaultValue: fs90r
+ spec:
+ valueType: str
+ height:
+ defaultValue: 36
+ spec:
+ minValue: 36
+ units: mm
+ valueType: (float, int)
+ length:
+ defaultValue: 76
+ spec:
+ minValue: 76
+ units: mm
+ valueType: (float, int)
+ width:
+ defaultValue: 60
+ spec:
+ minValue: 60
+ units: mm
+ valueType: (float, int)
+source: ..\builders\PivotCarBuilder.py
+subcomponents:
+ front0:
+ classname: HalfCar
+ kwargs: {}
+ parameters:
+ height:
+ parameter: height
+ length:
+ parameter: length
+ width:
+ parameter: width
+ hinge0:
+ classname: HingeServo
+ kwargs: {}
+ parameters:
+ length:
+ parameter: length
+ width:
+ parameter: width
+ hingeSplit0:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: ((x[0]-getDim(x[1], "motorheight"))/2, getDim(x[1], "motorheight"),
+ (x[0]-getDim(x[1], "motorheight"))/2)
+ parameter:
+ - height
+ - driveservo
+ toplength:
+ function: (x,)
+ parameter: height
+ holder0:
+ classname: ESP32Stack
+ kwargs: {}
+ parameters:
+ heightChanger:
+ function: x[1] - getDim(x[0], 'height')
+ parameter:
+ - brains
+ - height
+ length:
+ parameter: width
+ middle0:
+ classname: HalfCar
+ kwargs: {}
+ parameters:
+ height:
+ parameter: height
+ length:
+ parameter: length
+ width:
+ parameter: width
+ midsupport0:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ midsupport1:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ midsupport2:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ midsupport3:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan((x-37)/5)* 180 * 0.318309)
+ parameter: width
+ depth:
+ function: x-37
+ parameter: width
+ width:
+ function: x-10
+ parameter: width
+ split0:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: (x[1], x[0]-x[1])
+ parameter:
+ - length
+ - height
+ toplength:
+ function: (x,)
+ parameter: length
diff --git a/rocolib/library/RightTriangle.py b/rocolib/library/RightTriangle.py
new file mode 100644
index 0000000..818d150
--- /dev/null
+++ b/rocolib/library/RightTriangle.py
@@ -0,0 +1,28 @@
+from rocolib.api.components import FoldedComponent
+from rocolib.api.composables.graph.Face import Face
+
+class RightTriangle(FoldedComponent):
+
+ def define(self):
+ self.addParameter("height", 3, paramType="length")
+ self.addParameter("base", 4, paramType="length")
+ self.addParameter("hypotenuse", 5, paramType="length")
+ self.addParameter("angle", 45, paramType="angle", minValue=45, maxValue=45)
+
+ self.addEdgeInterface("hedge", "r0.e0", "height")
+ self.addEdgeInterface("bedge", "r0.e1", "base")
+ self.addEdgeInterface("hypoedge", "r0.e2", "hypotenuse")
+
+ def assemble(self):
+ h = self.getParameter("height")
+ b = self.getParameter("base")
+ x = h**2 + b**2
+
+ rs = []
+ rs.append(Face("", ((b, 0), (0,0), (0, -h))))
+ self.attachEdge(None, rs[0], "e0", prefix="r0", angle=90)
+
+
+if __name__ == "__main__":
+ RightTriangle.test()
+
diff --git a/rocolib/library/Tire.py b/rocolib/library/Tire.py
new file mode 100644
index 0000000..29fa812
--- /dev/null
+++ b/rocolib/library/Tire.py
@@ -0,0 +1,70 @@
+from rocolib.api.components import FoldedComponent
+from rocolib.api.composables.graph.Face import RegularNGon2
+from rocolib.api.composables.graph.Face import Rectangle
+import numpy as np
+import warnings
+
+class Tire(FoldedComponent):
+ """Tire Component
+ Auto-select tire design based on thickness specified.
+ If 0 or nothing specified, use a disk (regular ngon, 40)
+ Else Nonagon tire with specified thickness.
+ paramType=tire_thickness: control tire thickness
+ paramType=radius: to set radius"""
+ def define(self):
+ self.addParameter("tire_thickness", 0, paramType="length")
+ self.addParameter("radius", 25, paramType="length")
+ self.addFaceInterface("face", "w1")
+
+ def assemble(self):
+ thickness = self.getParameter("tire_thickness")
+ if thickness == 0:
+ #tickness is 0 or not specified
+ self.regularNgonTireAssembly()
+ else:
+ #if thickness is not zero
+ self.foldedTireAssembly()
+
+ def regularNgonTireAssembly(self):
+ # number of polygon sides
+ n = 40
+ l = self.getParameter("radius")
+
+ self.addFace(RegularNGon2("w1", n, l))
+
+ def foldedTireAssembly(self):
+ # number of polygon sides
+ n = 9
+ r = self.getParameter("radius")
+ tw = self.getParameter("tire_thickness")
+ # length of
+ sl = float(2 * r * np.cos(np.deg2rad(90-180/n)))
+
+ wheel1 = RegularNGon2("", n, r)
+ wheel2 = RegularNGon2("", n, r)
+
+ support = []
+ for i in range(n):
+ support.append(Rectangle("", tw, sl))
+
+ fromEdge = None
+ for i in range(9):
+ self.attachEdge(fromEdge, support[i], "e2", prefix="r%d" % i, angle=-40, root=(i == 1))
+ fromEdge = 'r%d.e0' % i
+
+ self.attachEdge("r0.e1", wheel1, "e0", prefix="w1", angle=-90)
+ self.attachEdge("r4.e3", wheel2, "e0", prefix="w2", angle=-90)
+
+ self.addTab("r8.e1", "w1.e8", angle=-90, width=11)
+ self.addTab("r0.e3", "w2.e4", angle=-90, width=11)
+ self.addTab("r4.e1", "w1.e4", angle=-90, width=11)
+
+ self.addTab("r2.e1", "w1.e2", angle=-90, width=11)
+ self.addTab("r2.e3", "w2.e2", angle=-90, width=11)
+
+ self.addTab("r7.e1", "w1.e7", angle=-90, width=11)
+ self.addTab("r7.e3", "w2.e6", angle=-90, width=11)
+
+
+if __name__ == "__main__":
+ Tire.test()
--
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