diff --git a/rocolib/builders/boat/.DS_Store b/rocolib/builders/boat/.DS_Store
index 202d8954419252a7d049ead6f69ca9e2ca7db5a9..1736bed07b2790b9ce01218e5244832a6ddcdb0f 100644
Binary files a/rocolib/builders/boat/.DS_Store and b/rocolib/builders/boat/.DS_Store differ
diff --git a/rocolib/builders/boat/BoatWithManyDCMounts.py b/rocolib/builders/boat/BoatWithManyDCMounts.py
new file mode 100644
index 0000000000000000000000000000000000000000..a8e8c1afb0b14a390d258f16352b4c7962a9fd71
--- /dev/null
+++ b/rocolib/builders/boat/BoatWithManyDCMounts.py
@@ -0,0 +1,31 @@
+from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
+
+c = Component()
+
+c.addSubcomponent("boat", "BoatBase", inherit=True, prefix=None)
+c.inheritAllInterfaces("boat")
+c.addSubcomponent("dcMount", "DCMotorMount", inherit=True)
+
+c.addConstraint(("dcMount", "mountWidth"), "boat.width")
+c.addConstraint(("dcMount", "supportLength"), "boat.depth")
+
+for i in range(2):
+ c.addSubcomponent("split%d" %i, "SplitEdge")
+ c.addConstraint(("split%d" %i, "toplength"), "boat.length", "(x,)")
+
+c.addConstraint(("split0", "botlength"), ("topDistance", "botDistance"), "(x[0]-5, 10, x[1]-5)")
+c.addConstraint(("split1", "botlength"), ("topDistance", "botDistance"), "(x[1]-5, 10, x[0]-5)")
+
+c.addConnection(("boat", "portedge"), ("split0", "topedge0"))
+c.addConnection(("boat", "staredge"), ("split1", "topedge0"))
+
+c.addConnection(("dcMount","rightArmInterface"), ("split0", "botedge1"), angle=-180)
+c.addConnection(("dcMount","leftArmInterface"), ("split1", "botedge1"), tabWidth=5, angle=-180)
+
+c.inheritInterface("topPort", ("split0", "botedge0"))
+c.inheritInterface("botPort", ("split0", "botedge2"))
+c.inheritInterface("topStar", ("split1", "botedge2"))
+c.inheritInterface("botStar", ("split1", "botedge0"))
+
+c.toLibrary("BoatWithManyDCMounts")
diff --git a/rocolib/builders/boat/BoatWithStackBatteryBuilder.py b/rocolib/builders/boat/BoatWithStackBatteryBuilder.py
new file mode 100644
index 0000000000000000000000000000000000000000..2ea0ca66fb3a64a80a2616e6e1497e6ce7df2740
--- /dev/null
+++ b/rocolib/builders/boat/BoatWithStackBatteryBuilder.py
@@ -0,0 +1,47 @@
+from rocolib.api.components.Component import Component
+
+#ESP3 STACK WITH PWM SERVO FEATHERWING
+c = Component()
+
+c.addSubcomponent("boat", "BoatBase", inherit=True)
+c.inheritAllInterfaces("boat")
+
+c.addParameter("length", 130, paramType="length")
+c.addParameter("width", 90, paramType="length")
+c.addParameter("depth", 70, paramType="length")
+
+c.addConstraint(("boat", "boat.length"), "length")
+c.addConstraint(("boat", "boat.width"), "width")
+c.addConstraint(("boat", "boat.depth"), "depth")
+
+c.addSubcomponent("stack", "StackMount", inherit="stack.length", prefix=None)
+c.inheritAllInterfaces("stack")
+
+c.addSubcomponent("batterymount", "BatteryMount", inherit="batterylength", prefix=None)
+c.inheritAllInterfaces("batterymount")
+
+c.addSubcomponent("portsplit", "SplitEdge", inherit=True)
+c.addConstraint(("portsplit", "toplength"), "length", "(x,)")
+c.addConstraint(("portsplit", "botlength"), ("length", "stack.length", "batterylength"), "(x[0]/2 - (x[1]+x[2])/2, x[1], x[2], x[0]/2 - (x[1]+x[2])/2)")
+c.addConnection(("portsplit", "botedge1"), ("stack", "leftArmInterface"))
+c.addConnection(("batterymount", "leftArmInterface"), ("portsplit", "botedge2"), tabWidth=10)
+c.addConnection(("boat", "portedge"), ("portsplit", "topedge0"))
+
+c.addSubcomponent("starsplit", "SplitEdge", inherit=True)
+c.addConstraint(("starsplit", "toplength"), "length", "(x,)")
+c.addConstraint(("starsplit", "botlength"), ("length", "stack.length", "batterylength"), "(x[0]/2 - (x[1]+x[2])/2, x[2], x[1], x[0]/2 - (x[1]+x[2])/2)")
+c.addConnection(("starsplit", "botedge2"), ("stack", "rightArmInterface"), tabWidth=10)
+c.addConnection(("batterymount", "rightArmInterface"), ("starsplit", "botedge1"), tabWidth=10)
+c.addConnection(("boat", "staredge"), ("starsplit", "topedge0"))
+# #
+# c.addConstraint(("split0", "botlength"), ("topDistance", "botDistance"), "(x[0]-5, 10, x[1]-5)")
+# c.addConstraint(("split1", "botlength"), ("topDistance", "botDistance"), "(x[1]-5, 10, x[0]-5)")
+#
+# c.addConnection(("boat", "portedge"), ("split0", "topedge0"))
+# c.addConnection(("boat", "staredge"), ("split1", "topedge0"))
+#
+
+#the length of the both should always be a multiple of the width of the motor
+#as of now i will be setting the length to 117 (so that means 9 * width of the motor which is 13)
+
+c.toLibrary("BoatWithStackBattery")
diff --git a/rocolib/builders/boat/BoatWithStackBuilder.py b/rocolib/builders/boat/BoatWithStackBuilder.py
deleted file mode 100644
index f38a79f5bfb544b973a270cca7640f5cb52f5e0d..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/BoatWithStackBuilder.py
+++ /dev/null
@@ -1,26 +0,0 @@
-from rocolib.api.components.Component import Component
-
-#ESP3 STACK WITH PWM SERVO FEATHERWING
-c = Component()
-
-c.addParameter("length", 130, paramType="length")
-c.addParameter("width", 90, paramType="length")
-c.addParameter("depth", 70, paramType="length")
-
-c.addSubcomponent("boat", "BoatBase", inherit=True)
-
-c.addConstraint(("boat", "boat.length"), "length")
-c.addConstraint(("boat", "boat.width"), "width")
-c.addConstraint(("boat", "boat.depth"), "depth")
-
-c.inheritAllInterfaces("boat")
-c.addSubcomponent("stack", "StackMount", inherit=True)
-c.inheritAllInterfaces("stack")
-
-c.addSubcomponent("split0", "SplitEdge", inherit=True)
-c.addSubcomponent("split1", "SplitEdge", inherit=True)
-
-#the length of the both should always be a multiple of the width of the motor
-#as of now i will be setting the length to 117 (so that means 9 * width of the motor which is 13)
-
-c.toLibrary("BoatWithStack")
diff --git a/rocolib/builders/output/BoatWithBottomServo/graph-anim.svg b/rocolib/builders/output/BoatWithBottomServo/graph-anim.svg
new file mode 100644
index 0000000000000000000000000000000000000000..b3fd0ed3b937725404e061cf79d7c5d291731347
--- /dev/null
+++ b/rocolib/builders/output/BoatWithBottomServo/graph-anim.svg
@@ -0,0 +1,151 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<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="207.703296mm" version="1.1" viewBox="0.000000 0.000000 191.733402 207.703296" width="191.733402mm">
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diff --git a/rocolib/builders/output/BoatWithStackBattery/tree.png b/rocolib/builders/output/BoatWithStackBattery/tree.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6d81aba02f2ff49efe39f98048bd22be2f21828
Binary files /dev/null and b/rocolib/builders/output/BoatWithStackBattery/tree.png differ
diff --git a/rocolib/library/BoatWithStackBattery.yaml b/rocolib/library/BoatWithStackBattery.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..564ebccc23ebb5515400df252b35537ff495a7a0
--- /dev/null
+++ b/rocolib/library/BoatWithStackBattery.yaml
@@ -0,0 +1,274 @@
+connections:
+ connection0:
+ - - portsplit
+ - botedge1
+ - - stack
+ - leftArmInterface
+ - {}
+ connection1:
+ - - batterymount
+ - leftArmInterface
+ - - portsplit
+ - botedge2
+ - tabWidth: 10
+ connection2:
+ - - boat
+ - portedge
+ - - portsplit
+ - topedge0
+ - {}
+ connection3:
+ - - starsplit
+ - botedge2
+ - - stack
+ - rightArmInterface
+ - tabWidth: 10
+ connection4:
+ - - batterymount
+ - rightArmInterface
+ - - starsplit
+ - botedge1
+ - tabWidth: 10
+ connection5:
+ - - boat
+ - staredge
+ - - starsplit
+ - topedge0
+ - {}
+interfaces:
+ batterymount.leftArmInterface:
+ interface: leftArmInterface
+ subcomponent: batterymount
+ batterymount.rightArmInterface:
+ interface: rightArmInterface
+ subcomponent: batterymount
+ boat.portedge:
+ interface: portedge
+ subcomponent: boat
+ boat.staredge:
+ interface: staredge
+ subcomponent: boat
+ stack.leftArmInterface:
+ interface: leftArmInterface
+ subcomponent: stack
+ stack.rightArmInterface:
+ interface: rightArmInterface
+ subcomponent: stack
+parameters:
+ batterylength:
+ defaultValue: 61
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ boat.bow.point:
+ defaultValue: 50
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ boat.stern.point:
+ defaultValue: 50
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ depth:
+ defaultValue: 70
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ length:
+ defaultValue: 130
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ portsplit._dx:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ portsplit._dy:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ portsplit._dz:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ portsplit._q_a:
+ defaultValue: 1
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ portsplit._q_i:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ portsplit._q_j:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ portsplit._q_k:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ portsplit.width:
+ defaultValue: 0
+ spec: {}
+ stack.length:
+ defaultValue: 61
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ starsplit._dx:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ starsplit._dy:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ starsplit._dz:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ starsplit._q_a:
+ defaultValue: 1
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ starsplit._q_i:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ starsplit._q_j:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ starsplit._q_k:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ starsplit.width:
+ defaultValue: 0
+ spec: {}
+ width:
+ defaultValue: 90
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+source: ../builders/boat/BoatWithStackBatteryBuilder.py
+subcomponents:
+ batterymount:
+ classname: BatteryMount
+ kwargs: {}
+ parameters:
+ batterylength:
+ parameter: batterylength
+ length:
+ parameter: length
+ boat:
+ classname: BoatBase
+ kwargs: {}
+ parameters:
+ boat.depth:
+ parameter: depth
+ boat.length:
+ parameter: length
+ boat.width:
+ parameter: width
+ bow.point:
+ parameter: boat.bow.point
+ stern.point:
+ parameter: boat.stern.point
+ portsplit:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ _dx:
+ parameter: portsplit._dx
+ _dy:
+ parameter: portsplit._dy
+ _dz:
+ parameter: portsplit._dz
+ _q_a:
+ parameter: portsplit._q_a
+ _q_i:
+ parameter: portsplit._q_i
+ _q_j:
+ parameter: portsplit._q_j
+ _q_k:
+ parameter: portsplit._q_k
+ botlength:
+ function: (x[0]/2 - (x[1]+x[2])/2, x[1], x[2], x[0]/2 - (x[1]+x[2])/2)
+ parameter: &id001
+ - length
+ - stack.length
+ - batterylength
+ toplength:
+ function: (x,)
+ parameter: length
+ width:
+ parameter: portsplit.width
+ stack:
+ classname: StackMount
+ kwargs: {}
+ parameters:
+ stack.length:
+ parameter: stack.length
+ starsplit:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ _dx:
+ parameter: starsplit._dx
+ _dy:
+ parameter: starsplit._dy
+ _dz:
+ parameter: starsplit._dz
+ _q_a:
+ parameter: starsplit._q_a
+ _q_i:
+ parameter: starsplit._q_i
+ _q_j:
+ parameter: starsplit._q_j
+ _q_k:
+ parameter: starsplit._q_k
+ botlength:
+ function: (x[0]/2 - (x[1]+x[2])/2, x[2], x[1], x[0]/2 - (x[1]+x[2])/2)
+ parameter: *id001
+ toplength:
+ function: (x,)
+ parameter: length
+ width:
+ parameter: starsplit.width