From b02615a973ac202a83d2772f5a63ed2154557253 Mon Sep 17 00:00:00 2001
From: pjil27 <jillpantigcs@gmail.com>
Date: Thu, 5 Aug 2021 17:30:48 -0700
Subject: [PATCH] ESP32STACK for boat
---
rocolib/builders/ESP32StackBoatBuilder.py | 37 +++++++-
rocolib/library/ESP32StackBoat.yaml | 106 +++++++++++++++++++---
2 files changed, 127 insertions(+), 16 deletions(-)
diff --git a/rocolib/builders/ESP32StackBoatBuilder.py b/rocolib/builders/ESP32StackBoatBuilder.py
index 4d06716..f4c36a1 100644
--- a/rocolib/builders/ESP32StackBoatBuilder.py
+++ b/rocolib/builders/ESP32StackBoatBuilder.py
@@ -3,26 +3,53 @@ from rocolib.api.components.Component import Component
#ESP3 STACK WITH PWM SERVO FEATHERWING
c = Component()
-c.addSubcomponent("stack", "SubESP32Stack")
+c.addSubcomponent("boat", "BoatBase")
+#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.addParameter("length", 130, paramType="length")
+c.addParameter("width", 50, paramType="length")
+c.addParameter("depth", 40, paramType="length")
c.addParameter("brains", "esp32stack", paramType="dimension")
-c.addParameter("boat.depth", 20, paramType="length")
+
+c.addConstraint(("boat", "boat.length"), "length")
+c.addConstraint(("boat", "boat.width"), "width")
+c.addConstraint(("boat", "boat.depth"), "depth")
+
+
+for i in range(2):
+ c.addSubcomponent("splitside%d" %i, "SplitEdge")
+ c.addConstraint(("splitside%d" %i, "toplength"), "length", "(x,)")
+ c.addConstraint(("splitside%d" %i, "botlength"), ("length", "brains"),
+ '(getDim(x[1], "width")/2., getDim(x[1], "width")/2., '
+ 'getDim(x[1], "width")/2., getDim(x[1], "width")/2., getDim(x[1], "width")/2., getDim(x[1], "width")/2. ,getDim(x[1], "width")/2., x[0] - 7 * (getDim(x[1], "width")/2))')
+
+c.addSubcomponent("stack", "SubESP32Stack")
+
for i in range(4):
c.addSubcomponent("support%d" %i, "Rectangle")
c.addConstraint(("support%d" %i, "w"), "brains", "getDim(x, 'width')/2.")
- c.addConstraint(("support%d" %i, "l"), "boat.depth")
+ c.addConstraint(("support%d" %i, "l"), "depth")
for i in range(2):
c.addSubcomponent("split%d" %i, "SplitEdge")
c.addConstraint(("split%d" %i, "toplength"), "brains", '(getDim(x, "width"),)')
c.addConstraint(("split%d" % i, "botlength"), "brains", '(getDim(x, "width")/2.,getDim(x, "width")/2.)')
-c.addConnection(("stack", "topedge2"), ("split0", "topedge0"))
-c.addConnection(("stack", "botedge2"), ("split1", "topedge0"))
+c.addConnection(("stack", "topedge0"), ("split0", "topedge0"))
+c.addConnection(("stack", "botedge0"), ("split1", "topedge0"))
c.addConnection(("split0", "botedge0"), ("support0", "l"), angle=90)
c.addConnection(("split0", "botedge1"), ("support1", "l"), angle=90)
c.addConnection(("split1", "botedge0"), ("support2", "l"), angle=90)
c.addConnection(("split1", "botedge1"), ("support3", "l"), angle=90)
+c.addConnection(("splitside0", "topedge0"), ("boat", "staredge"))
+c.addConnection(("splitside1", "topedge0"), ("boat", "portedge"))
+c.addConnection(("support0", "r"), ("splitside0", "botedge4"), tabWidth=5)
+c.addConnection(("support1", "r"), ("splitside0", "botedge5"), tabWidth=5)
+c.addConnection(("support2", "r"), ("splitside1", "botedge5"), tabWidth=5)
+c.addConnection(("support3", "r"), ("splitside1", "botedge6"), tabWidth=5)
+
+
c.toLibrary("ESP32StackBoat")
\ No newline at end of file
diff --git a/rocolib/library/ESP32StackBoat.yaml b/rocolib/library/ESP32StackBoat.yaml
index 34de9b3..5005c16 100644
--- a/rocolib/library/ESP32StackBoat.yaml
+++ b/rocolib/library/ESP32StackBoat.yaml
@@ -1,16 +1,28 @@
connections:
connection0:
- - stack
- - topedge2
+ - topedge0
- - split0
- topedge0
- {}
connection1:
- - stack
- - botedge2
+ - botedge0
- - split1
- topedge0
- {}
+ connection10:
+ - - support2
+ - r
+ - - splitside1
+ - botedge5
+ - tabWidth: 5
+ connection11:
+ - - support3
+ - r
+ - - splitside1
+ - botedge6
+ - tabWidth: 5
connection2:
- - split0
- botedge0
@@ -35,20 +47,66 @@ connections:
- - support3
- l
- angle: 90
+ connection6:
+ - - splitside0
+ - topedge0
+ - - boat
+ - staredge
+ - {}
+ connection7:
+ - - splitside1
+ - topedge0
+ - - boat
+ - portedge
+ - {}
+ connection8:
+ - - support0
+ - r
+ - - splitside0
+ - botedge4
+ - tabWidth: 5
+ connection9:
+ - - support1
+ - r
+ - - splitside0
+ - botedge5
+ - tabWidth: 5
interfaces: {}
parameters:
- boat.depth:
- defaultValue: 20
+ brains:
+ defaultValue: esp32stack
+ spec:
+ valueType: str
+ depth:
+ defaultValue: 40
spec:
minValue: 0
units: mm
valueType: (float, int)
- brains:
- defaultValue: esp32stack
+ length:
+ defaultValue: 130
spec:
- valueType: str
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ width:
+ defaultValue: 50
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
source: ..\builders\ESP32StackBoatBuilder.py
subcomponents:
+ boat:
+ classname: BoatBase
+ kwargs: {}
+ parameters:
+ boat.depth:
+ parameter: depth
+ boat.length:
+ parameter: length
+ boat.width:
+ parameter: width
split0:
classname: SplitEdge
kwargs: {}
@@ -69,6 +127,32 @@ subcomponents:
toplength:
function: (getDim(x, "width"),)
parameter: brains
+ splitside0:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: (getDim(x[1], "width")/2., getDim(x[1], "width")/2., getDim(x[1],
+ "width")/2., getDim(x[1], "width")/2., getDim(x[1], "width")/2., getDim(x[1],
+ "width")/2. ,getDim(x[1], "width")/2., x[0] - 7 * (getDim(x[1], "width")/2))
+ parameter: &id001
+ - length
+ - brains
+ toplength:
+ function: (x,)
+ parameter: length
+ splitside1:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: (getDim(x[1], "width")/2., getDim(x[1], "width")/2., getDim(x[1],
+ "width")/2., getDim(x[1], "width")/2., getDim(x[1], "width")/2., getDim(x[1],
+ "width")/2. ,getDim(x[1], "width")/2., x[0] - 7 * (getDim(x[1], "width")/2))
+ parameter: *id001
+ toplength:
+ function: (x,)
+ parameter: length
stack:
classname: SubESP32Stack
kwargs: {}
@@ -78,7 +162,7 @@ subcomponents:
kwargs: {}
parameters:
l:
- parameter: boat.depth
+ parameter: depth
w:
function: getDim(x, 'width')/2.
parameter: brains
@@ -87,7 +171,7 @@ subcomponents:
kwargs: {}
parameters:
l:
- parameter: boat.depth
+ parameter: depth
w:
function: getDim(x, 'width')/2.
parameter: brains
@@ -96,7 +180,7 @@ subcomponents:
kwargs: {}
parameters:
l:
- parameter: boat.depth
+ parameter: depth
w:
function: getDim(x, 'width')/2.
parameter: brains
@@ -105,7 +189,7 @@ subcomponents:
kwargs: {}
parameters:
l:
- parameter: boat.depth
+ parameter: depth
w:
function: getDim(x, 'width')/2.
parameter: brains
--
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