diff --git a/SubESP32StackBuilder.py b/SubESP32StackBuilder.py
new file mode 100644
index 0000000000000000000000000000000000000000..c8a58e4be69843f338b4a9980b8d2154fd0285d8
--- /dev/null
+++ b/SubESP32StackBuilder.py
@@ -0,0 +1,62 @@
+from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
+
+# ESP3 STACK WITH PWM SERVO FEATHERWING
+c = Component()
+
+c.addSubcomponent("holder", "SimpleRectBeam")
+
+# Dimensions of the ESP32 Stack
+c.addParameter("length", 60, paramType="length")
+
+c.addParameter("brains", "esp32stack", paramType="dimension")
+c.addConstraint(("holder", "length"), "length")
+c.addConstraint(("holder", "depth"), "brains", "getDim(x, 'height')")
+c.addConstraint(("holder", "width"), "brains", "getDim(x, 'width')")
+
+# This parameter will change when the dimensions of the car or vehicle is changed
+# so that it would not affect the ESP32 stack holder
+c.addSubcomponent("header", "Header")
+
+
+def getBrainParameter(p):
+ return "brains", "getDim(x, '%s')" % p
+
+
+# OLED at the top
+c.addConstraint(("header", "nrows"), "brains", "getDim(x, 'nrows')")
+c.addConstraint(("header", "ncols"), "brains", "getDim(x, 'ncols')")
+c.addConstraint(("header", "rowsep"), "brains", "getDim(x, 'rowsep')")
+c.addConstraint(("header", "colsep"), "brains", "getDim(x, 'colsep')")
+
+# Holes for servo and power supply
+c.addParameter("dy1", 18, parameterType="length")
+c.addSubcomponent("servohole0", "Cutout")
+c.addConstraint(("servohole0", "dy"), "brains", "getDim(x, 'height')/1.75")
+c.addConstraint(("servohole0", "dx"), "dy1", "x-5")
+
+c.addConnection(("holder", "face0"),
+ ("header", "decoration"),
+ mode="hole", offset=Function(params=("length", "brains"), fnstring="(0, 0)"))
+
+c.addConnection(("holder", "face2"),
+ ("header", "decoration"),
+ mode="hole", offset=Function(params=("length", "brains"), fnstring="(0, 0)"))
+
+c.addConnection(("holder", "face3"),
+ ("servohole0", "decoration"),
+ mode="hole", rotate=True,
+ offset=Function(params=("brains", "length"), fnstring="(getDim(x[0], 'height') * -0.06, x[1] * 0.32)"))
+
+c.addSubcomponent("powerhole", "Cutout")
+c.addConstraint(("powerhole", "dy"), "brains", "getDim(x, 'height')/1.75")
+c.addConstraint(("powerhole", "dx"), "dy1")
+
+c.addConnection(("holder", "face1"),
+ ("powerhole", "decoration"),
+ mode="hole", rotate=True,
+ offset=Function(params=("brains", "length"), fnstring="(getDim(x[0], 'height') * 0.15, x[1] * 0.25)"))
+
+c.inheritAllInterfaces("holder", prefix=None)
+
+c.toLibrary("SubESP32Stack")
diff --git a/rocolib/builders/BrainsTwoWheelsBuilder.py b/rocolib/builders/BrainsTwoWheelsBuilder.py
index 8b7ddc71add9cd423294b87fff0597919d586b8c..6d3c1a0bc5680736c20342b8f418ff2e662043e5 100644
--- a/rocolib/builders/BrainsTwoWheelsBuilder.py
+++ b/rocolib/builders/BrainsTwoWheelsBuilder.py
@@ -5,9 +5,9 @@ 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", 65, paramType="length", minValue=60) #tested minValue
-c.addParameter("height", 48, paramType="length", minValue=36) #tested minValue
-c.addParameter("width", 60, paramType="length", minValue=51) #tested minValue
+c.addParameter("length", 65, 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
#Holder for the ESP32 FeatherBoard and its Featherwings
#If you have another "brain" or microcontroller or board change it here and adjust the parameters above to fit that "brain"
@@ -46,9 +46,6 @@ c.addConstraint(("between0", "width"), "driveservo", "getDim(x, 'motorwidth')")
c.addConnection(("fright", "topedge2"), ("between0", "topedge1"), angle=90)
c.addConnection(("between0", "botedge1"), ("bleft", "botedge2"), angle=90, tabWidth=10)
-#The side of the holder will adjust when the width of the car gets bigger
-#so that the size of the holder for the ESP32 stack woul not change
-
#Flipping he front right wheels to match the orientation of the
#bottom left
c.addConstConstraint(("fright", "flip"), True)
@@ -78,21 +75,39 @@ c.addConstraint(("sheathsplit0", "botlength"), ("driveservo", "width"), "(x[1] -
c.addConnection(("bleft", "botedge1"), ("sheathsplit0", "botedge1"),angle=180)
c.addConnection(("sheathsplit0", "topedge0"), ("sheath0", "topedge2"))
-#Creating the holes for the servo
+#Creating the holes for the servo wires
for i in range(2):
c.addSubcomponent("sidehole%d" %i, "Cutout")
- c.addConstraint(("sidehole%d" %i, "dx"), "height", "14")
+ c.addConstraint(("sidehole%d" %i, "dx"), "height", "x * 0.39")
-c.addConstraint(("sidehole0", "dy"), "height", "30")
-c.addConstraint(("sidehole1", "dy"), "height", "23")
+c.addConstraint(("sidehole0", "dy"), "height", "x * 0.7")
+c.addConstraint(("sidehole1", "dy"), "height", "x * 0.5")
c.addConnection(("sheath0", "face1"),
("sidehole0", "decoration"),
- mode="hole", rotate=True, offset=Function(params=("length"), fnstring="(7, 21)"))
+ mode="hole", rotate=True, offset=Function(params=("height", "brains"), fnstring="(x[0] * -0.10, getDim(x[1], 'width') - 3)"))
c.addConnection(("sheath0", "face3"),
("sidehole1", "decoration"),
- mode="hole", rotate=True, offset=Function(params=("length"), fnstring="(-10, 21)"))
+ mode="hole", rotate=True, offset=Function(params=("height", "brains"), fnstring="(x[0] * -0.04, getDim(x[1], 'width') - 3)"))
+
+for i in range(4):
+ c.addSubcomponent("accessoryHole%d" % i, "Cutout")
+ c.addConstraint(("accessoryHole%d" % i, "dx"), "height", "x * 0.03")
+ c.addConstraint(("accessoryHole%d" % i, "dy"), "height", "x * 0.5")
+c.addConnection(("sheath0", "face1"),
+ ("accessoryHole0", "decoration"),
+ mode="hole", rotate=True, offset=Function(params=("height", "length"), fnstring="(x[0] * -0.10, -x[1] * 0.45)"))
+c.addConnection(("sheath0", "face3"),
+ ("accessoryHole1", "decoration"),
+ mode="hole", rotate=True, offset=Function(params=("height", "length"), fnstring="(x[0] * -0.04, -x[1] * 0.45)"))
+
+c.addConnection(("sheath0", "face1"),
+ ("accessoryHole2", "decoration"),
+ mode="hole", rotate=True, offset=Function(params=("height", "length"), fnstring="(x[0] * -0.10, x[1] * 0.05)"))
+c.addConnection(("sheath0", "face3"),
+ ("accessoryHole3", "decoration"),
+ mode="hole", rotate=True, offset=Function(params=("height", "length"), fnstring="(x[0] * -0.04, x[1] * 0.05)"))
c.inheritAllInterfaces("sheathsplit0")
c.inheritAllInterfaces("sheath0")
diff --git a/rocolib/builders/CarForSteeringBuilder.py b/rocolib/builders/CarForSteeringBuilder.py
index 08260016fa574394200de74c727861d26413444b..f01e3ff70ad072cbeafb28e9f00cc115c1238814 100644
--- a/rocolib/builders/CarForSteeringBuilder.py
+++ b/rocolib/builders/CarForSteeringBuilder.py
@@ -3,7 +3,19 @@ from rocolib.api.components.Component import Component
c = Component()
c.addSubcomponent("front", "NewBrainsTwoWheels")
-c.addSubcomponent("back", "TwoWheels", inherit=True, prefix=None)
+c.addSubcomponent("back", "TwoWheels")
+
+c.addParameter("length", 65, 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
+
+c.addConstraint(("front", "length"), "length")
+c.addConstraint(("front", "height"), "height")
+c.addConstraint(("front", "width"), "width")
+
+c.addConstraint(("back", "length"), "length")
+c.addConstraint(("back", "height"), "height")
+c.addConstraint(("back", "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):
diff --git a/rocolib/builders/FourWheelCarBuilder.py b/rocolib/builders/FourWheelCarBuilder.py
index 3d00515b5f0605d42b335b4fefc65bf4e1198279..9da73b6e0bbf37fb33272320ce293ca5cca1589e 100644
--- a/rocolib/builders/FourWheelCarBuilder.py
+++ b/rocolib/builders/FourWheelCarBuilder.py
@@ -3,22 +3,25 @@ from rocolib.api.components.Component import Component
c = Component()
c.addSubcomponent("front", "NewBrainsTwoWheels")
-c.addSubcomponent("middle", "TwoWheels")
-c.addSubcomponent("back", "TwoWheels", inherit=True, prefix=None)
+c.addSubcomponent("back", "TwoWheels")
-# c.addConnection(("front", "sheath0.botedge2"), ("back", "sheath1.botedge2"))
-# c.addConnection(("front", "sheath0.botedge0"), ("back", "sheath1.botedge0"), tabWidth=10)
+c.addParameter("length", 65, 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
-c.addConstraint(("back", "length"), "length", "x+15")
+c.addConstraint(("front", "length"), "length")
+c.addConstraint(("front", "height"), "height")
+c.addConstraint(("front", "width"), "width")
-#I'm trying to create a car with 6 wheels with the code below, but when I just use tabWidth. It wouldn't connect it in the 3D file
-c.addConnection(("front", "sheath0.botedge2"), ("middle", "sheath1.botedge2"))
-c.addConnection(("back", "sheath1.botedge2"), ("middle", "sheath1.topedge2"), tabWidth=20)
-c.addConnection(("front", "sheath0.botedge0"), ("middle", "sheath1.botedge0"), tabWidth=20)
-c.addConnection(("back", "sheath1.botedge0"), ("middle", "sheath1.topedge0"), tabWidth=20)
+c.addConstraint(("back", "length"), "length")
+c.addConstraint(("back", "height"), "height")
+c.addConstraint(("back", "width"), "width")
+
+c.addConnection(("front", "sheath0.botedge2"), ("back", "sheath1.botedge2"))
+c.addConnection(("front", "sheath0.botedge0"), ("back", "sheath1.botedge0"), tabWidth=13)
c.addSubcomponent("shield", "Rectangle")
-c.addConstraint(("shield", "l"), ("driveservo", "height"), "x[1] - getDim(x[0],'motorwidth')")
+c.addConstraint(("shield", "l"), "height", "x - 13")
c.addConstraint(("shield", "w"), "width")
c.addConnection(("shield", "b"), ("back", "splitedge0"), angle=90, tabWidth=10)
diff --git a/rocolib/builders/TwoWheelsBuilder.py b/rocolib/builders/TwoWheelsBuilder.py
index 8ebc0bb43b8a0dd878ed22a69ad0b0528b699b4b..dc1089d2529cd5e23e6b190a438c4909c0b00979 100644
--- a/rocolib/builders/TwoWheelsBuilder.py
+++ b/rocolib/builders/TwoWheelsBuilder.py
@@ -1,12 +1,13 @@
from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
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", 65, paramType="length", minValue=60) #tested minValue
-c.addParameter("height", 48, paramType="length", minValue=36) #tested minValue
-c.addParameter("width", 60, paramType="length", minValue=51) #tested minValue
+c.addParameter("length", 65, 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
@@ -66,4 +67,4 @@ c.inheritAllInterfaces("sheath1")
c.inheritInterface("splitedge0", ("sheathsplit0", "botedge1"))
c.inheritInterface("splitedge1", ("sheathsplit1", "botedge0"))
-c.toLibrary("TwoWheels")
+c.toLibrary("TwoWheels")
\ No newline at end of file
diff --git a/rocolib/library/CarForSteering.yaml b/rocolib/library/CarForSteering.yaml
index 23ee3c45078ae12baa585890e073c51b3e201671..62561230c25a2cdc3990d3de4dab44d6d1e4cb90 100644
--- a/rocolib/library/CarForSteering.yaml
+++ b/rocolib/library/CarForSteering.yaml
@@ -31,30 +31,8 @@ connections:
- {}
interfaces: {}
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: 48
+ defaultValue: 36
spec:
minValue: 36
units: mm
@@ -62,13 +40,13 @@ parameters:
length:
defaultValue: 65
spec:
- minValue: 60
+ minValue: 65
units: mm
valueType: (float, int)
width:
defaultValue: 60
spec:
- minValue: 51
+ minValue: 60
units: mm
valueType: (float, int)
source: ..\builders\CarForSteeringBuilder.py
@@ -77,14 +55,6 @@ subcomponents:
classname: TwoWheels
kwargs: {}
parameters:
- brains:
- parameter: brains
- bright.angle:
- parameter: bright.angle
- driveservo:
- parameter: driveservo
- fleft.angle:
- parameter: fleft.angle
height:
parameter: height
length:
@@ -94,7 +64,13 @@ subcomponents:
front:
classname: NewBrainsTwoWheels
kwargs: {}
- parameters: {}
+ parameters:
+ height:
+ parameter: height
+ length:
+ parameter: length
+ width:
+ parameter: width
midsupport0:
classname: Trapezoid
kwargs: {}
diff --git a/rocolib/library/FourWheelCar.yaml b/rocolib/library/FourWheelCar.yaml
index a05f295ff023bec0b17bb0a1ea5d4a7707dfe77c..dd0feb20ddcfc5a383cd034664a278927e0f7f6b 100644
--- a/rocolib/library/FourWheelCar.yaml
+++ b/rocolib/library/FourWheelCar.yaml
@@ -2,35 +2,23 @@ connections:
connection0:
- - front
- sheath0.botedge2
- - - middle
+ - - back
- sheath1.botedge2
- {}
connection1:
- - - back
- - sheath1.botedge2
- - - middle
- - sheath1.topedge2
- - tabWidth: 20
- connection2:
- - front
- sheath0.botedge0
- - - middle
- - sheath1.botedge0
- - tabWidth: 20
- connection3:
- - back
- sheath1.botedge0
- - - middle
- - sheath1.topedge0
- - tabWidth: 20
- connection4:
+ - tabWidth: 13
+ connection2:
- - shield
- b
- - back
- splitedge0
- angle: 90
tabWidth: 10
- connection5:
+ connection3:
- - shield
- t
- - back
@@ -38,30 +26,8 @@ connections:
- angle: 90
interfaces: {}
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: 48
+ defaultValue: 36
spec:
minValue: 36
units: mm
@@ -69,13 +35,13 @@ parameters:
length:
defaultValue: 65
spec:
- minValue: 60
+ minValue: 65
units: mm
valueType: (float, int)
width:
defaultValue: 60
spec:
- minValue: 51
+ minValue: 60
units: mm
valueType: (float, int)
source: ..\builders\FourWheelCarBuilder.py
@@ -84,37 +50,28 @@ subcomponents:
classname: TwoWheels
kwargs: {}
parameters:
- brains:
- parameter: brains
- bright.angle:
- parameter: bright.angle
- driveservo:
- parameter: driveservo
- fleft.angle:
- parameter: fleft.angle
height:
parameter: height
length:
- function: x+15
parameter: length
width:
parameter: width
front:
classname: NewBrainsTwoWheels
kwargs: {}
- parameters: {}
- middle:
- classname: TwoWheels
- kwargs: {}
- parameters: {}
+ parameters:
+ height:
+ parameter: height
+ length:
+ parameter: length
+ width:
+ parameter: width
shield:
classname: Rectangle
kwargs: {}
parameters:
l:
- function: x[1] - getDim(x[0],'motorwidth')
- parameter:
- - driveservo
- - height
+ function: x - 13
+ parameter: height
w:
parameter: width
diff --git a/rocolib/library/MountedServo.yaml b/rocolib/library/MountedServo.yaml
index aa1b7c9b6564656bc38e914721f81d6c16d090a0..26efb16cbf4d42c456afd5f89320ec0d78231197 100644
--- a/rocolib/library/MountedServo.yaml
+++ b/rocolib/library/MountedServo.yaml
@@ -6,48 +6,6 @@ connections:
- horn
- {}
interfaces:
- beam.botedge0:
- interface: beam.botedge0
- subcomponent: mount
- beam.botedge1:
- interface: beam.botedge1
- subcomponent: mount
- beam.botedge2:
- interface: beam.botedge2
- subcomponent: mount
- beam.botedge3:
- interface: beam.botedge3
- subcomponent: mount
- beam.face0:
- interface: beam.face0
- subcomponent: mount
- beam.face1:
- interface: beam.face1
- subcomponent: mount
- beam.face2:
- interface: beam.face2
- subcomponent: mount
- beam.face3:
- interface: beam.face3
- subcomponent: mount
- beam.slotedge:
- interface: beam.slotedge
- subcomponent: mount
- beam.tabedge:
- interface: beam.tabedge
- subcomponent: mount
- beam.topedge0:
- interface: beam.topedge0
- subcomponent: mount
- beam.topedge1:
- interface: beam.topedge1
- subcomponent: mount
- beam.topedge2:
- interface: beam.topedge2
- subcomponent: mount
- beam.topedge3:
- interface: beam.topedge3
- subcomponent: mount
botedge0:
interface: botedge0
subcomponent: mount
@@ -161,6 +119,12 @@ parameters:
defaultValue: false
spec:
valueType: bool
+ length:
+ defaultValue: 100
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
offset:
defaultValue: null
spec:
@@ -179,13 +143,7 @@ parameters:
minValue: 0
units: mm
valueType: (float, int)
- width:
- defaultValue: 20
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
-source: ../builders/MountedServoBuilder.py
+source: ..\builders\MountedServoBuilder.py
subcomponents:
mount:
classname: ServoMount
@@ -197,14 +155,14 @@ subcomponents:
parameter: center
flip:
parameter: flip
+ length:
+ parameter: length
offset:
parameter: offset
servo:
parameter: servo
shift:
parameter: shift
- width:
- parameter: width
servo:
classname: ServoMotor
kwargs: {}
diff --git a/rocolib/library/NewBrainsTwoWheels.yaml b/rocolib/library/NewBrainsTwoWheels.yaml
index 97046cf6fdf2287008c792a57bae92385cb376a8..aafae1f7d91e2f094dffa4fe589ceb5a5bfea0c9 100644
--- a/rocolib/library/NewBrainsTwoWheels.yaml
+++ b/rocolib/library/NewBrainsTwoWheels.yaml
@@ -12,6 +12,48 @@ connections:
- botedge2
- angle: 90
tabWidth: 10
+ connection10:
+ - &id002
+ - sheath0
+ - face1
+ - - accessoryHole0
+ - decoration
+ - mode: hole
+ offset:
+ function: (x[0] * -0.10, -x[1] * 0.45)
+ parameter: &id001
+ - height
+ - length
+ rotate: true
+ connection11:
+ - &id003
+ - sheath0
+ - face3
+ - - accessoryHole1
+ - decoration
+ - mode: hole
+ offset:
+ function: (x[0] * -0.04, -x[1] * 0.45)
+ parameter: *id001
+ rotate: true
+ connection12:
+ - *id002
+ - - accessoryHole2
+ - decoration
+ - mode: hole
+ offset:
+ function: (x[0] * -0.10, x[1] * 0.05)
+ parameter: *id001
+ rotate: true
+ connection13:
+ - *id003
+ - - accessoryHole3
+ - decoration
+ - mode: hole
+ offset:
+ function: (x[0] * -0.04, x[1] * 0.05)
+ parameter: *id001
+ rotate: true
connection2:
- - holder
- botedge1
@@ -49,24 +91,24 @@ connections:
- topedge2
- {}
connection8:
- - - sheath0
- - face1
+ - *id002
- - sidehole0
- decoration
- mode: hole
offset:
- function: (7, 21)
- parameter: length
+ function: (x[0] * -0.10, getDim(x[1], 'width') - 3)
+ parameter: &id004
+ - height
+ - brains
rotate: true
connection9:
- - - sheath0
- - face3
+ - *id003
- - sidehole1
- decoration
- mode: hole
offset:
- function: (-10, 21)
- parameter: length
+ function: (x[0] * -0.04, getDim(x[1], 'width') - 3)
+ parameter: *id004
rotate: true
interfaces:
sheath0.botedge0:
@@ -735,7 +777,7 @@ parameters:
units: degrees
valueType: (float, int)
height:
- defaultValue: 48
+ defaultValue: 36
spec:
minValue: 36
units: mm
@@ -743,17 +785,57 @@ parameters:
length:
defaultValue: 65
spec:
- minValue: 60
+ minValue: 65
units: mm
valueType: (float, int)
width:
defaultValue: 60
spec:
- minValue: 51
+ minValue: 60
units: mm
valueType: (float, int)
source: ..\builders\BrainsTwoWheelsBuilder.py
subcomponents:
+ accessoryHole0:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx:
+ function: x * 0.03
+ parameter: height
+ dy:
+ function: x * 0.5
+ parameter: height
+ accessoryHole1:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx:
+ function: x * 0.03
+ parameter: height
+ dy:
+ function: x * 0.5
+ parameter: height
+ accessoryHole2:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx:
+ function: x * 0.03
+ parameter: height
+ dy:
+ function: x * 0.5
+ parameter: height
+ accessoryHole3:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx:
+ function: x * 0.03
+ parameter: height
+ dy:
+ function: x * 0.5
+ parameter: height
between0:
classname: SimpleRectBeam
kwargs: {}
@@ -779,7 +861,7 @@ subcomponents:
center: false
length:
function: ((x[0] - getDim(x[1], "width")))
- parameter: &id001
+ parameter: &id005
- length
- brains
radius:
@@ -798,7 +880,7 @@ subcomponents:
flip: true
length:
function: ((x[0] - getDim(x[1], "width")))
- parameter: *id001
+ parameter: *id005
radius:
function: (getDim(x, "height") / 1.35)
parameter: brains
@@ -837,20 +919,20 @@ subcomponents:
kwargs: {}
parameters:
dx:
- function: '14'
+ function: x * 0.39
parameter: height
dy:
- function: '30'
+ function: x * 0.7
parameter: height
sidehole1:
classname: Cutout
kwargs: {}
parameters:
dx:
- function: '14'
+ function: x * 0.39
parameter: height
dy:
- function: '23'
+ function: x * 0.5
parameter: height
split0:
classname: SplitEdge
@@ -859,7 +941,7 @@ subcomponents:
botlength:
function: (getDim(x[1], "motorwidth"), getDim(x[0], "height") - getDim(x[1],
"motorwidth"))
- parameter: &id002
+ parameter: &id006
- brains
- driveservo
toplength:
@@ -872,7 +954,7 @@ subcomponents:
botlength:
function: (getDim(x[0], "height") - getDim(x[1], "motorwidth"), getDim(x[1],
"motorwidth"))
- parameter: *id002
+ parameter: *id006
toplength:
function: (getDim(x, "height"),)
parameter: brains
diff --git a/rocolib/library/ServoMotor.py b/rocolib/library/ServoMotor.py
index 3f8c1e5e86962d133d3aa6ea35c7b4476615ad41..5881e47e4152317542664da196de296caf222703 100644
--- a/rocolib/library/ServoMotor.py
+++ b/rocolib/library/ServoMotor.py
@@ -3,6 +3,7 @@ from rocolib.api.composables.graph.Face import Rectangle as Shape
from rocolib.api.ports import AnchorPort
from rocolib.utils.dimensions import getDim
from rocolib.utils.transforms import Translate, RotateZ
+from rocolib.utils.numsym import dot
class ServoMotor(FoldedComponent):
@@ -18,7 +19,7 @@ class ServoMotor(FoldedComponent):
dz = getDim(s, "hornheight")
self.addFace(Shape("h", 0, 0))
- self.setInterface("horn", AnchorPort(self, self.getGraph(), "h", RotateZ(a) * Translate([0,0,dz])))
+ self.setInterface("horn", AnchorPort(self, self.getGraph(), "h", dot(RotateZ(a), Translate([0,0,dz]))))
if __name__ == "__main__":
ServoMotor.test()
diff --git a/rocolib/library/SubESP32Stack.yaml b/rocolib/library/SubESP32Stack.yaml
index 660661ad1579872983f5fbab1422a121e067a322..2d2aa95732f7b36f70280f519482b183c1cebdd6 100644
--- a/rocolib/library/SubESP32Stack.yaml
+++ b/rocolib/library/SubESP32Stack.yaml
@@ -22,12 +22,14 @@ connections:
connection2:
- - holder
- face3
- - - servohole1
+ - - servohole0
- decoration
- mode: hole
offset:
- function: (0, 14)
- parameter: length
+ function: (getDim(x[0], 'height') * -0.06, x[1] * 0.32)
+ parameter: &id003
+ - brains
+ - length
rotate: true
connection3:
- - holder
@@ -36,8 +38,8 @@ connections:
- decoration
- mode: hole
offset:
- function: (-5, 12)
- parameter: length
+ function: (getDim(x[0], 'height') * 0.15, x[1] * 0.25)
+ parameter: *id003
rotate: true
interfaces:
botedge0:
@@ -92,12 +94,12 @@ parameters:
spec:
parameterType: length
length:
- defaultValue: 61
+ defaultValue: 60
spec:
minValue: 0
units: mm
valueType: (float, int)
-source: ../builders/SubESP32StackBuilder.py
+source: ..\..\SubESP32StackBuilder.py
subcomponents:
header:
classname: Header
@@ -120,63 +122,22 @@ subcomponents:
kwargs: {}
parameters:
depth:
- function: '60'
+ function: getDim(x, 'height')
parameter: brains
length:
parameter: length
width:
function: getDim(x, 'width')
parameter: brains
- pinhole0:
- classname: Cutout
- kwargs: {}
- parameters:
- dx:
- function: '1.2'
- parameter: dy1
- dy:
- function: '41'
- parameter: dy1
- pinhole1:
- classname: Cutout
- kwargs: {}
- parameters:
- dx:
- function: '1.2'
- parameter: dy1
- dy:
- function: '30'
- parameter: dy1
- pinhole2:
- classname: Cutout
- kwargs: {}
- parameters:
- dx:
- function: '1.2'
- parameter: dy1
- dy:
- function: '41'
- parameter: dy1
- pinhole3:
- classname: Cutout
- kwargs: {}
- parameters:
- dx:
- function: '1.2'
- parameter: dy1
- dy:
- function: '30'
- parameter: dy1
powerhole:
classname: Cutout
kwargs: {}
parameters:
dx:
- function: x
parameter: dy1
dy:
- function: x+17
- parameter: dy1
+ function: getDim(x, 'height')/1.75
+ parameter: brains
servohole0:
classname: Cutout
kwargs: {}
@@ -185,15 +146,5 @@ subcomponents:
function: x-5
parameter: dy1
dy:
- function: x+12
- parameter: dy1
- servohole1:
- classname: Cutout
- kwargs: {}
- parameters:
- dx:
- function: x-5
- parameter: dy1
- dy:
- function: x+12
- parameter: dy1
+ function: getDim(x, 'height')/1.75
+ parameter: brains
diff --git a/rocolib/library/TwoWheels.yaml b/rocolib/library/TwoWheels.yaml
index f5b31d6c656ca0f3b1fb89dc4ec3e2e832624c4d..ddbaf988f3975d52340f001cc703f65b26f2d04b 100644
--- a/rocolib/library/TwoWheels.yaml
+++ b/rocolib/library/TwoWheels.yaml
@@ -115,7 +115,7 @@ parameters:
units: degrees
valueType: (float, int)
height:
- defaultValue: 48
+ defaultValue: 36
spec:
minValue: 36
units: mm
@@ -123,13 +123,13 @@ parameters:
length:
defaultValue: 65
spec:
- minValue: 60
+ minValue: 65
units: mm
valueType: (float, int)
width:
defaultValue: 60
spec:
- minValue: 51
+ minValue: 60
units: mm
valueType: (float, int)
source: ..\builders\TwoWheelsBuilder.py
diff --git a/rocolib/library/Wheel.yaml b/rocolib/library/Wheel.yaml
index 972d3858e838f3dcb7d91c8f2e289c74ff5b69c7..a63097a42b8527df0f97d6d5d4e3481dcf9caaea 100644
--- a/rocolib/library/Wheel.yaml
+++ b/rocolib/library/Wheel.yaml
@@ -6,48 +6,6 @@ connections:
- face
- {}
interfaces:
- beam.botedge0:
- interface: beam.botedge0
- subcomponent: drive
- beam.botedge1:
- interface: beam.botedge1
- subcomponent: drive
- beam.botedge2:
- interface: beam.botedge2
- subcomponent: drive
- beam.botedge3:
- interface: beam.botedge3
- subcomponent: drive
- beam.face0:
- interface: beam.face0
- subcomponent: drive
- beam.face1:
- interface: beam.face1
- subcomponent: drive
- beam.face2:
- interface: beam.face2
- subcomponent: drive
- beam.face3:
- interface: beam.face3
- subcomponent: drive
- beam.slotedge:
- interface: beam.slotedge
- subcomponent: drive
- beam.tabedge:
- interface: beam.tabedge
- subcomponent: drive
- beam.topedge0:
- interface: beam.topedge0
- subcomponent: drive
- beam.topedge1:
- interface: beam.topedge1
- subcomponent: drive
- beam.topedge2:
- interface: beam.topedge2
- subcomponent: drive
- beam.topedge3:
- interface: beam.topedge3
- subcomponent: drive
botedge0:
interface: botedge0
subcomponent: drive
diff --git a/rocolib/utils/dimensions.py b/rocolib/utils/dimensions.py
index cc791e9834ee2228eb3a3d0357f61061da061095..1a392659aa7274264bfd1172d27becf3b435e53d 100644
--- a/rocolib/utils/dimensions.py
+++ b/rocolib/utils/dimensions.py
@@ -39,16 +39,18 @@ dims["nodeMCU"] = { "type" : "brains",
"colsep" : 0.9 * 25.4,
}
+#48 before
dims["esp32stack"] = { "type" : "brains",
"length" : 51,
"width" : 24,
- "height" : 48,
+ "height" : 36,
"nrows" : 16,
"ncols" : 2,
"rowsep" : 2.5,
"colsep" : 20,
}
+
'''
Servo dimension parameters: