diff --git a/.DS_Store b/.DS_Store
index 2f6c8baa087840ed0d0a49cc671c6284316de5af..30700fb22b7ce9a84771f8d45ac9719e73689ddc 100644
Binary files a/.DS_Store and b/.DS_Store differ
diff --git a/SubESP32StackBuilder.py b/SubESP32StackBuilder.py
deleted file mode 100644
index c8a58e4be69843f338b4a9980b8d2154fd0285d8..0000000000000000000000000000000000000000
--- a/SubESP32StackBuilder.py
+++ /dev/null
@@ -1,62 +0,0 @@
-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/.DS_Store b/rocolib/.DS_Store
index 99670c936ce30df7e5084dde87d0ecf9b8bfbaa0..dbe86d5016796008639ab880b0907f7042c480d1 100644
Binary files a/rocolib/.DS_Store and b/rocolib/.DS_Store differ
diff --git a/rocolib/builders/.DS_Store b/rocolib/builders/.DS_Store
index 1ba532aef2f09bc61777c3de8afeca0e2f8fc606..34294b972f0c9d8f6b71b3316f24be6d93c56eaa 100644
Binary files a/rocolib/builders/.DS_Store and b/rocolib/builders/.DS_Store differ
diff --git a/rocolib/builders/BlimpBatteryMount.py b/rocolib/builders/BlimpBatteryMount.py
new file mode 100644
index 0000000000000000000000000000000000000000..32829952e970c7ce154819f1f3c700bf8bcea61a
--- /dev/null
+++ b/rocolib/builders/BlimpBatteryMount.py
@@ -0,0 +1,49 @@
+from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
+
+#A 10-sided rectangular beam enclosure
+
+c = Component()
+
+c.addParameter("batterylength", 35, paramType="length")
+c.addParameter("batterywidth", 55, paramType="length") #8
+c.addParameter("batterydepth", 31, paramType="length")
+
+c.addSubcomponent("holder", "SimpleRectBeam", inherit=True, prefix=None)
+c.addConstraint(("holder", "length"), "batterylength")
+c.addConstraint(("holder", "width"), "batterydepth")
+c.addConstraint(("holder", "depth"), "batterywidth")
+
+c.addSubcomponent("bottom", "Rectangle", inherit=True)
+c.addConstraint(("bottom", "l"), "batterydepth")
+c.addConstraint(("bottom", "w"), "batterywidth")
+#
+c.addConnection(("bottom", "l"), ("holder", "botedge3"), angle=90)
+# c.addConnection(("bottom", "l"), ("holder", "botedge1"), tabWidth=10, angle=90)
+c.addConnection(("bottom", "r"), ("holder", "botedge1"),tabWidth=15, angle=90)
+# c.addConnection(("bottom", "b"), ("holder", "botedge2"), tabWidth=10, angle=90)
+#
+c.addSubcomponent("top", "Rectangle", inherit=True)
+c.addConstraint(("top", "l"), "batterydepth")
+c.addConstraint(("top", "w"), "batterywidth")
+#
+c.addConnection(("top", "l"), ("holder", "topedge3"), angle=90)
+# c.addConnection(("top", "l"), ("holder", "topedge1"), tabWidth=10, angle=90)
+c.addConnection(("top", "r"), ("holder", "topedge1"),tabWidth=15, angle=90)
+# c.addConnection(("top", "b"), ("holder", "topedge2"), tabWidth=10, angle=90)
+
+c.addSubcomponent("cutoutbot", "Cutout")
+c.addConstConstraint(("cutoutbot", "dx"), 8)
+c.addConstConstraint(("cutoutbot", "dy"), 18)
+c.addConnection(("holder", "face0"),
+ ("cutoutbot", "decoration"),
+ mode="hole")
+
+c.addSubcomponent("cutouttop", "Cutout")
+c.addConstConstraint(("cutouttop", "dx"), 8)
+c.addConstConstraint(("cutouttop", "dy"), 18)
+c.addConnection(("holder", "face2"),
+ ("cutouttop", "decoration"),
+ mode="hole")
+
+c.toLibrary("BlimpBatteryMount")
diff --git a/rocolib/builders/boat/.DS_Store b/rocolib/builders/boat/.DS_Store
index b60ff5c649fc2e0a91fee689b238680ce1eeddac..e02d82ffdf7ba7b86d6c69130964575f8a2eaa23 100644
Binary files a/rocolib/builders/boat/.DS_Store and b/rocolib/builders/boat/.DS_Store differ
diff --git a/rocolib/builders/output/.DS_Store b/rocolib/builders/output/.DS_Store
index a66b46f7f89bbbee193cd1476907ba5b0cf9767b..4ba30ced2817166ee11ff101d6077da77a5ca8af 100644
Binary files a/rocolib/builders/output/.DS_Store and b/rocolib/builders/output/.DS_Store differ
diff --git a/rocolib/builders/output/BlimpBatteryMount/graph-anim.svg b/rocolib/builders/output/BlimpBatteryMount/graph-anim.svg
new file mode 100644
index 0000000000000000000000000000000000000000..9d2981aa34853734facc78db883832ed6bc24fa7
--- /dev/null
+++ b/rocolib/builders/output/BlimpBatteryMount/graph-anim.svg
@@ -0,0 +1,65 @@
+<?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="182.000000mm" version="1.1" viewBox="0.000000 0.000000 127.000000 182.000000" width="127.000000mm">
+ <defs/>
+ <line stroke="#000000" x1="112.00000000000001" x2="81.00000000000001" y1="0.0" y2="0.0"/>
+ <line opacity="0.5" stroke="#0000ff" x1="112.00000000000001" x2="112.00000000000001" y1="0.0" y2="55.00000000000001"/>
+ <line stroke="#000000" x1="81.00000000000001" x2="112.00000000000001" y1="55.00000000000001" y2="55.00000000000001"/>
+ <line opacity="0.5" stroke="#0000ff" x1="81.00000000000001" x2="81.00000000000001" y1="55.00000000000001" y2="0.0"/>
+ <line stroke="#000000" x1="127.00000000000001" x2="112.00000000000001" y1="0.0" y2="0.0"/>
+ <line stroke="#000000" x1="127.00000000000001" x2="127.00000000000001" y1="55.00000000000001" y2="0.0"/>
+ <line stroke="#000000" x1="112.00000000000001" x2="127.00000000000001" y1="55.00000000000001" y2="55.00000000000001"/>
+ <line opacity="0.5" stroke="#0000ff" x1="46.00000000000001" x2="46.00000000000001" y1="0.0" y2="55.00000000000001"/>
+ <line stroke="#000000" x1="81.00000000000001" x2="46.00000000000001" y1="0.0" y2="0.0"/>
+ <line opacity="0.5" stroke="#0000ff" x1="46.00000000000001" x2="81.00000000000001" y1="55.00000000000001" y2="55.00000000000001"/>
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+</svg>
diff --git a/rocolib/builders/output/BlimpBatteryMount/graph-autofold-default.dxf b/rocolib/builders/output/BlimpBatteryMount/graph-autofold-default.dxf
new file mode 100644
index 0000000000000000000000000000000000000000..f2eee26136f3302835f0e42b2b757c0c3f962919
--- /dev/null
+++ b/rocolib/builders/output/BlimpBatteryMount/graph-autofold-default.dxf
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diff --git a/rocolib/builders/output/BlimpBatteryMount/graph-autofold-graph.dxf b/rocolib/builders/output/BlimpBatteryMount/graph-autofold-graph.dxf
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index 0000000000000000000000000000000000000000..d38c53084569043095977cde46778eefc149770a
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diff --git a/rocolib/builders/output/SimpleRectBeam/tree.png b/rocolib/builders/output/SimpleRectBeam/tree.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcaf83aaf3dd108d317bd69727e2a778cfb11d12
Binary files /dev/null and b/rocolib/builders/output/SimpleRectBeam/tree.png differ
diff --git a/rocolib/library/BlimpBatteryMount.yaml b/rocolib/library/BlimpBatteryMount.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6c7b037ff8fd21bcc2959746a7fd882178a6d994
--- /dev/null
+++ b/rocolib/library/BlimpBatteryMount.yaml
@@ -0,0 +1,291 @@
+connections:
+ connection0:
+ - - bottom
+ - l
+ - - holder
+ - botedge3
+ - angle: 90
+ connection1:
+ - - bottom
+ - r
+ - - holder
+ - botedge1
+ - angle: 90
+ tabWidth: 15
+ connection2:
+ - - top
+ - l
+ - - holder
+ - topedge3
+ - angle: 90
+ connection3:
+ - - top
+ - r
+ - - holder
+ - topedge1
+ - angle: 90
+ tabWidth: 15
+ connection4:
+ - - holder
+ - face0
+ - - cutoutbot
+ - decoration
+ - mode: hole
+ connection5:
+ - - holder
+ - face2
+ - - cutouttop
+ - decoration
+ - mode: hole
+interfaces: {}
+parameters:
+ _dx:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ _dy:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ _dz:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ _q_a:
+ defaultValue: 1
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ _q_i:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ _q_j:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ _q_k:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ addTabs:
+ defaultValue: true
+ spec:
+ valueType: bool
+ batterydepth:
+ defaultValue: 31
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ batterylength:
+ defaultValue: 35
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ batterywidth:
+ defaultValue: 55
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ bottom._dx:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ bottom._dy:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ bottom._dz:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ bottom._q_a:
+ defaultValue: 1
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ bottom._q_i:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ bottom._q_j:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ bottom._q_k:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ depth:
+ defaultValue: 50
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ length:
+ defaultValue: 100
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ top._dx:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ top._dy:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ top._dz:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ top._q_a:
+ defaultValue: 1
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ top._q_i:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ top._q_j:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ top._q_k:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ width:
+ defaultValue: 20
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+source: ../builders/BlimpBatteryMount.py
+subcomponents:
+ bottom:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ _dx:
+ parameter: bottom._dx
+ _dy:
+ parameter: bottom._dy
+ _dz:
+ parameter: bottom._dz
+ _q_a:
+ parameter: bottom._q_a
+ _q_i:
+ parameter: bottom._q_i
+ _q_j:
+ parameter: bottom._q_j
+ _q_k:
+ parameter: bottom._q_k
+ l:
+ parameter: batterydepth
+ w:
+ parameter: batterywidth
+ cutoutbot:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx: 8
+ dy: 18
+ cutouttop:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx: 8
+ dy: 18
+ holder:
+ classname: SimpleRectBeam
+ kwargs: {}
+ parameters:
+ _dx:
+ parameter: _dx
+ _dy:
+ parameter: _dy
+ _dz:
+ parameter: _dz
+ _q_a:
+ parameter: _q_a
+ _q_i:
+ parameter: _q_i
+ _q_j:
+ parameter: _q_j
+ _q_k:
+ parameter: _q_k
+ addTabs:
+ parameter: addTabs
+ depth:
+ parameter: batterywidth
+ length:
+ parameter: batterylength
+ width:
+ parameter: batterydepth
+ top:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ _dx:
+ parameter: top._dx
+ _dy:
+ parameter: top._dy
+ _dz:
+ parameter: top._dz
+ _q_a:
+ parameter: top._q_a
+ _q_i:
+ parameter: top._q_i
+ _q_j:
+ parameter: top._q_j
+ _q_k:
+ parameter: top._q_k
+ l:
+ parameter: batterydepth
+ w:
+ parameter: batterywidth
diff --git a/rocolib/output/.DS_Store b/rocolib/output/.DS_Store
index f861250952f182920500b26c84e47321d23456eb..673c2046c258d536fea592e509e663081c3ee425 100644
Binary files a/rocolib/output/.DS_Store and b/rocolib/output/.DS_Store differ