diff --git a/rocolib/builders/boat/BoatWithServoMountBuilder.py b/rocolib/builders/boat/BoatWithServoMountBuilder.py
index f31edcdc3aacb1f323cd199396ab9bd7b9b713c3..3eb5ef756808031df7e3d8f581582c4c027e2d4a 100644
--- a/rocolib/builders/boat/BoatWithServoMountBuilder.py
+++ b/rocolib/builders/boat/BoatWithServoMountBuilder.py
@@ -2,9 +2,15 @@ from rocolib.api.components.Component import Component
c = Component()
-c.addSubcomponent("boat", "BoatBase", inherit=True, prefix=None)
-c.addSubcomponent("lServoMount", "SideServoMount", inherit="depth")
-c.addSubcomponent("rServoMount", "SideServoMount", inherit="depth")
+c.addParameter("width", 90, paramType="length")
+c.addParameter("depth", 70, paramType="length")
+
+c.addSubcomponent("boat", "BoatBase", inherit=True)
+c.addSubcomponent("lServoMount", "SideServoMount", inherit=("depth","length"))
+c.addSubcomponent("rServoMount", "SideServoMount", inherit=("depth","length"))
+
+c.addConstraint(("boat", "boat.width"), "width")
+c.addConstraint(("boat", "boat.depth"), "depth")
#topDistance and botDistance (and servoMount length) determine the dimensions of the boat hull
c.addParameter("topDistance", 50, paramType="length", minValue=0) #servo mount length above the connecting edge
@@ -22,6 +28,31 @@ c.addConstraint(("rsplit", "botlength"), ("topDistance", "botDistance", "rServoM
c.addConnection(("lsplit", "botedge1"), ("lServoMount", "rightInterface"), angle=180) #both face the same direction
c.addConnection(("rsplit", "botedge1"), ("rServoMount", "leftInterface"), angle=180)
+
+#Bottom belt
+c.addSubcomponent("lservodown", "Rectangle")
+c.addConstraint(("lservodown", "w"), "lServoMount.depth")
+c.addConstraint(("lservodown", "l"), (("depth"), "lServoMount.length"), "x[0] - x[1]") #DEPTH OF BOAT - 3 for the tab
+
+c.addSubcomponent("lservoacross", "Rectangle")
+c.addConstraint(("lservoacross", "w"), "lServoMount.depth")
+c.addConstraint(("lservoacross", "l"), ("width"), "x * 0.5") #DEPTH OF BOAT - 3 for the tab
+
+c.addConnection(("lservodown", "r"),("lservoacross", "r"), angle=-90)
+c.addConnection(("lservodown", "l"), ("lServoMount", "leftInterface"))
+
+c.addSubcomponent("rservodown", "Rectangle")
+c.addConstraint(("rservodown", "w"), "rServoMount.depth")
+c.addConstraint(("rservodown", "l"), (("depth"), "rServoMount.length"), "x[0] - x[1]") #DEPTH OF BOAT - 3 for the tab
+
+c.addSubcomponent("rservoacross", "Rectangle")
+c.addConstraint(("rservoacross", "w"), "rServoMount.depth")
+c.addConstraint(("rservoacross", "l"), ("width"), "x * 0.5") #DEPTH OF BOAT - 3 for the tab
+
+c.addConnection(("rservodown", "r"),("rservoacross", "r"), angle=-90)
+c.addConnection(("rservodown", "l"), ("rServoMount", "rightInterface"))
+
+c.addConnection(("lservoacross", "l"), ("rservoacross", "l"), tabWidth=5)
#
c.addConnection(("boat", "portedge"), ("lsplit", "topedge0"))
c.addConnection(("boat", "staredge"), ("rsplit", "topedge0"))
diff --git a/rocolib/library/BoatWithServoMount.yaml b/rocolib/library/BoatWithServoMount.yaml
index 952da8a633f9837830ef7532874ead98d82a547a..c9815f5d43f6b3df0f03a00644b3299d12f7d16e 100644
--- a/rocolib/library/BoatWithServoMount.yaml
+++ b/rocolib/library/BoatWithServoMount.yaml
@@ -12,12 +12,42 @@ connections:
- leftInterface
- angle: 180
connection2:
+ - - lservodown
+ - r
+ - - lservoacross
+ - r
+ - angle: -90
+ connection3:
+ - - lservodown
+ - l
+ - - lServoMount
+ - leftInterface
+ - {}
+ connection4:
+ - - rservodown
+ - r
+ - - rservoacross
+ - r
+ - angle: -90
+ connection5:
+ - - rservodown
+ - l
+ - - rServoMount
+ - rightInterface
+ - {}
+ connection6:
+ - - lservoacross
+ - l
+ - - rservoacross
+ - l
+ - tabWidth: 5
+ connection7:
- - boat
- portedge
- - lsplit
- topedge0
- {}
- connection3:
+ connection8:
- - boat
- staredge
- - rsplit
@@ -37,19 +67,13 @@ interfaces:
interface: botedge2
subcomponent: rsplit
parameters:
- boat.depth:
- defaultValue: 20
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- boat.length:
- defaultValue: 100
+ boat.bow.point:
+ defaultValue: 50
spec:
minValue: 0
units: mm
valueType: (float, int)
- boat.width:
+ boat.stern.point:
defaultValue: 50
spec:
minValue: 0
@@ -61,8 +85,8 @@ parameters:
minValue: 73
units: mm
valueType: (float, int)
- bow.point:
- defaultValue: 50
+ depth:
+ defaultValue: 70
spec:
minValue: 0
units: mm
@@ -73,14 +97,20 @@ parameters:
minValue: 0
units: mm
valueType: (float, int)
+ lServoMount.length:
+ defaultValue: 34
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
rServoMount.depth:
defaultValue: 24
spec:
minValue: 0
units: mm
valueType: (float, int)
- stern.point:
- defaultValue: 50
+ rServoMount.length:
+ defaultValue: 34
spec:
minValue: 0
units: mm
@@ -91,6 +121,12 @@ parameters:
minValue: 0
units: mm
valueType: (float, int)
+ width:
+ defaultValue: 90
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
source: ../builders/boat/BoatWithServoMountBuilder.py
subcomponents:
boat:
@@ -98,7 +134,7 @@ subcomponents:
kwargs: {}
parameters:
boat.depth:
- parameter: boat.depth
+ parameter: depth
boat.length:
function: x[0] + x[1] + x[2]
parameter: &id001
@@ -106,17 +142,39 @@ subcomponents:
- botDistance
- lServoMount.depth
boat.width:
- parameter: boat.width
+ parameter: width
bow.point:
- parameter: bow.point
+ parameter: boat.bow.point
stern.point:
- parameter: stern.point
+ parameter: boat.stern.point
lServoMount:
classname: SideServoMount
kwargs: {}
parameters:
depth:
parameter: lServoMount.depth
+ length:
+ parameter: lServoMount.length
+ lservoacross:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ function: x * 0.5
+ parameter: width
+ w:
+ parameter: lServoMount.depth
+ lservodown:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ function: x[0] - x[1]
+ parameter:
+ - depth
+ - lServoMount.length
+ w:
+ parameter: lServoMount.depth
lsplit:
classname: SplitEdge
kwargs: {}
@@ -133,6 +191,28 @@ subcomponents:
parameters:
depth:
parameter: rServoMount.depth
+ length:
+ parameter: rServoMount.length
+ rservoacross:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ function: x * 0.5
+ parameter: width
+ w:
+ parameter: rServoMount.depth
+ rservodown:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ function: x[0] - x[1]
+ parameter:
+ - depth
+ - rServoMount.length
+ w:
+ parameter: rServoMount.depth
rsplit:
classname: SplitEdge
kwargs: {}
diff --git a/rocolib/output/BoatWithServoMount/graph-anim.svg b/rocolib/output/BoatWithServoMount/graph-anim.svg
index e2f101670d1a257a1ae6f749997bf892a3092aae..53e60e80406273c9b2f256bc312c434669937bb3 100644
--- a/rocolib/output/BoatWithServoMount/graph-anim.svg
+++ b/rocolib/output/BoatWithServoMount/graph-anim.svg
@@ -1,168 +1,189 @@
<?xml version="1.0" encoding="utf-8" ?>
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+<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="326.046506mm" version="1.1" viewBox="0.000000 0.000000 465.000000 326.046506" width="465.000000mm">
<defs/>
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diff --git a/rocolib/output/BoatWithServoMount/graph-autofold-graph.dxf b/rocolib/output/BoatWithServoMount/graph-autofold-graph.dxf
index d4b9fba13c5b56087145c92b0d00eead9a3adc7a..4b903287b5d6b2118993c04ee4f76fba5520dfe6 100644
--- a/rocolib/output/BoatWithServoMount/graph-autofold-graph.dxf
+++ b/rocolib/output/BoatWithServoMount/graph-autofold-graph.dxf
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index f1ca77ebdc35704fd1c91cd055b87f8a55967a77..b3371be3b1573ced3914ff2069aee01c9c6480d9 100644
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index 9a217325b73948f0b93a90158d77a2945b7299b2..508527523e31627a5652282620491d098f82cded 100644
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diff --git a/rocolib/output/BoatWithServoMount/graph-model.stl b/rocolib/output/BoatWithServoMount/graph-model.stl
index 9144d37f5d5c3eb958037af38150afb88609868e..074ff5f00ca46afb46d619082b3f8e7a2e2d299b 100644
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diff --git a/rocolib/output/BoatWithServoMount/tree.png b/rocolib/output/BoatWithServoMount/tree.png
index 168c6888d342f2fc120d54aa25b778a62509d792..b927d9b00a6b946c0fc6a6ec523464af0a0c55b8 100644
Binary files a/rocolib/output/BoatWithServoMount/tree.png and b/rocolib/output/BoatWithServoMount/tree.png differ