ESP32STACK for boat

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

rocolib/library/ESP32StackBoat.yaml

 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