diff --git a/rocolib/builders/PivotBuilder.py b/rocolib/builders/PivotBuilder.py
new file mode 100644
index 0000000000000000000000000000000000000000..e34238aad750c3fa176749c091d06499a0ccc4ad
--- /dev/null
+++ b/rocolib/builders/PivotBuilder.py
@@ -0,0 +1,49 @@
+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", inherit="angle")
+c.addParameter("driveservo", "pivotservo", 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(7):
+ 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(5, 7):
+ 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"), ("belt5", "l"), angle=90)
+c.addConnection(("belt1", "r"), ("belt6", "l"), angle=90)
+
+c.addSubcomponent("pivotface", "Trapezoid")
+c.addConstraint(("pivotface", "width"), "width", "x-(2*x*.15)")
+c.addConstraint(("pivotface", "depth"), "driveservo", "getDim(x, 'motorlength')")
+c.addConstraint(("pivotface", "bangle"), ("width", "driveservo"),
+ "float(np.atan(getDim(x[1], 'motorlength')/(x[0]*.15))* 180 * 0.318309)")
+
+c.addConnection(("servo", "mount"), ("pivotface", "face0"))
+
+c.inheritAllInterfaces("servo")
+c.inheritAllInterfaces("pivotface")
+for i in range(3):
+ c.inheritAllInterfaces("belt%d" %i)
+
+c.toLibrary("Pivot")
\ No newline at end of file
diff --git a/rocolib/library/Pivot.yaml b/rocolib/library/Pivot.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1c98f9abaf6994ba9128a0fc228adcb33e2f3080
--- /dev/null
+++ b/rocolib/library/Pivot.yaml
@@ -0,0 +1,282 @@
+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
+ connection5:
+ - - belt0
+ - r
+ - - belt5
+ - l
+ - angle: 90
+ connection6:
+ - - belt1
+ - r
+ - - belt6
+ - l
+ - angle: 90
+ connection7:
+ - - servo
+ - mount
+ - - pivotface
+ - face0
+ - {}
+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
+ pivotface.botedge:
+ interface: botedge
+ subcomponent: pivotface
+ pivotface.face0:
+ interface: face0
+ subcomponent: pivotface
+ pivotface.ledge:
+ interface: ledge
+ subcomponent: pivotface
+ pivotface.redge:
+ interface: redge
+ subcomponent: pivotface
+ pivotface.topedge:
+ interface: topedge
+ subcomponent: pivotface
+ 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: pivotservo
+ spec:
+ valueType: str
+ length:
+ defaultValue: 76
+ spec:
+ minValue: 65
+ units: mm
+ valueType: (float, int)
+ servo.angle:
+ defaultValue: 0
+ spec:
+ maxValue: null
+ minValue: null
+ units: degrees
+ valueType: (float, int)
+ width:
+ defaultValue: 60
+ spec:
+ minValue: 60
+ units: mm
+ valueType: (float, int)
+source: ../builders/PivotBuilder.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
+ belt5:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ parameter: length
+ w:
+ function: getDim(x, "motorheight")
+ parameter: driveservo
+ belt6:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ parameter: length
+ w:
+ function: getDim(x, "motorheight")
+ parameter: driveservo
+ pivotface:
+ classname: Trapezoid
+ kwargs: {}
+ parameters:
+ bangle:
+ function: float(np.atan(getDim(x[1], 'motorlength')/(x[0]*.15))* 180 * 0.318309)
+ parameter: *id001
+ depth:
+ function: getDim(x, 'motorlength')
+ parameter: driveservo
+ width:
+ function: x-(2*x*.15)
+ parameter: width
+ servo:
+ classname: MountedServo
+ kwargs: {}
+ parameters:
+ angle:
+ parameter: servo.angle
+ center: false
+ length:
+ function: getDim(x, "motorlength") + 2 * getDim(x, "shoulderlength")
+ parameter: driveservo
+ servo:
+ parameter: driveservo
diff --git a/rocolib/library/Right45Triangle.py b/rocolib/library/Right45Triangle.py
new file mode 100644
index 0000000000000000000000000000000000000000..845cc0194463506c450d7a55453ef3584d0b8b79
--- /dev/null
+++ b/rocolib/library/Right45Triangle.py
@@ -0,0 +1,28 @@
+from rocolib.api.components import FoldedComponent
+from rocolib.api.composables.graph.Face import Face
+
+class Right45Triangle(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__":
+ Right45Triangle.test()
+