boatbaseflat with two servomounts

rocolib/builders/BoatBaseFlatBuilder.py

@@ -7,9 +7,9 @@ c.addParameter("length", 130, paramType="length")
 c.addParameter("width", 70, paramType="length")
 c.addParameter("depth", 40, paramType="length")
 
-c.addSubcomponent("boat","SimpleUChannel")
-c.addSubcomponent("bow","BoatPoint")
-c.addSubcomponent("stern","BoatPoint")
+c.addSubcomponent("boat","SimpleUChannel", inherit=True)
+c.addSubcomponent("bow","BoatPoint", inherit=True)
+c.addSubcomponent("stern","BoatPoint", inherit=True)
 
 c.addConstraint(("boat", "length"), "length")
 c.addConstraint(("boat", "width"), "width")

rocolib/builders/BoatWithMountBuilder.py

@@ -2,14 +2,7 @@ from rocolib.api.components.Component import Component
 
 c = Component()
 
-# c.addSubcomponent("boat", "BoatBase", inherit=True)
-c.addSubcomponent("boat","SimpleUChannel", inherit=True)
-c.addSubcomponent("bow","BoatPoint", inherit=True)
-c.addSubcomponent("stern","BoatPoint", inherit=True)
-
-c.join(("boat", "top"), ("bow", "edge"))
-c.join(("boat", "bot"), ("stern", "edge"))
-c.addConstraint(("stern", "point"), "width", "0")
+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)
@@ -43,8 +36,8 @@ for i in range(2):
 c.addConnection(("boat", "staredge"), ("split0", "topedge0"))
 c.addConnection(("boat", "portedge"), ("split1", "topedge0"))
 
-c.addConnection(("mount0", "botedge4.tabedge"), ("split0", "botedge4"), angle=-180)
-c.addConnection(("mount1", "botedge4.tabedge"), ("split1", "botedge5"), angle=-180)
+c.addConnection(("mount0", "beam.botedge2"), ("split0", "botedge4"), angle=-180)
+c.addConnection(("mount1", "beam.botedge2"), ("split1", "botedge5"), angle=-180)
 
 c.addConnection(("rect0", "l"), ("split0", "botedge6"), tabWidth=8)
 c.addConnection(("rect0", "r"), ("mount2", "beam.botedge2"), angle=-90)

rocolib/builders/CanoeBuilder.py

@@ -2,24 +2,9 @@ from rocolib.api.components.Component import Component
 
 c = Component()
 
-# Boat Base Flat
-c.addParameter("length", 130, paramType="length")
-c.addParameter("width", 70, paramType="length")
-c.addParameter("depth", 40, paramType="length")
+# BOX
 
-c.addSubcomponent("boat","SimpleUChannel")
-c.addSubcomponent("bow","BoatPoint")
-c.addSubcomponent("stern","BoatPoint")
-
-c.addConstraint(("boat", "length"), "length")
-c.addConstraint(("boat", "width"), "width")
-c.addConstraint(("boat", "depth"), "depth")
-
-c.inheritInterface("portedge", ("boat", "ledge"))
-c.inheritInterface("staredge", ("boat", "redge"))
-#
-# c.addSubcomponent("boat","BoatBase", inherit=True, prefix=None, root=True)
-# c.addConstraint(("stern", "point"), "width", "0")
+c.addSubcomponent("boat","BoatBase", inherit=True, prefix=None, root=True)
 
 c.addParameter("seats", 3, paramType="count", minValue=1, maxValue=10)
 
@@ -30,9 +15,9 @@ c.addConstraint(("portsplit","botlength"), ("boat.length", "seats"), "(x[0],)")
 c.addConstraint(("portsplit","toplength"), ("boat.length", "seats"), "(x[0]/(2.*x[1]+1.),) * (2*x[1]+1)")
 c.addConstraint(("starsplit","toplength"), ("boat.length", "seats"), "(x[0],)")
 c.addConstraint(("starsplit","botlength"), ("boat.length", "seats"), "(x[0]/(2.*x[1]+1.),) * (2*x[1]+1)")
-#
-# c.addConnection(("portsplit", "botedge0"), ("boat", "portedge"), angle=90)
-# c.addConnection(("starsplit", "topedge0"), ("boat", "staredge"), angle=90, tabWidth=10)
+
+c.addConnection(("portsplit", "botedge0"), ("boat", "portedge"), angle=90)
+c.addConnection(("starsplit", "topedge0"), ("boat", "staredge"), angle=90, tabWidth=10)
 
 for i in range(10):
     nm = "seat%d"%i

rocolib/builders/PaddleboatWithCameraBuilder.py

+from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
+
+c = Component()
+
+c.addSubcomponent("boat", "BoatBaseFlat", inherit=True)
+
+# c.addParameter("length", 130, paramType="length")
+# c.addParameter("width", 50, paramType="length")
+# c.addParameter("depth", 40, paramType="length")
+
+c.addParameter("driveservo", "fs90r", paramType="dimension")
+
+for i in range(2):
+    c.addSubcomponent("mount%d" %i, "MountedServo")
+    c.addConstraint(("mount%d" %i, "servo"), "driveservo")
+    c.addConstraint(("mount%d" %i, "length"), "boat.width")
+    c.addConstConstraint(("mount%d" %i, "center"), False)
+
+for i in range(2):
+    c.addSubcomponent("split%d" %i, "SplitEdge")
+    c.addConstraint(("split%d" %i, "toplength"), "boat.length", "(x,)")
+    c.addConstraint(("split%d" %i, "botlength"), ("boat.length", "driveservo"),
+                    '(getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"),'
+                    'getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), x[0]- 9 * getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"),'
+                    'getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"))')
+    # c.addSubcomponent("rect%d" % i, "Rectangle")
+    # c.addConstraint(("rect%d" %i, "l"), "depth")
+    # c.addConstraint(("rect%d" %i, "w"), "driveservo", "getDim(x, 'motorwidth')")
+
+c.addConnection(("boat", "staredge"), ("split0", "topedge0"))
+c.addConnection(("boat", "portedge"), ("split1", "topedge0"))
+#
+c.addConnection(("mount0", "beam.botedge2"), ("split0", "botedge4"), angle=-180)
+c.addConnection(("mount1", "beam.botedge2"), ("split1", "botedge5"), angle=-180)
+
+c.toLibrary("PaddleboatWithCamera")

rocolib/library/BoatBaseFlat.yaml

@@ -19,6 +19,96 @@ interfaces:
     interface: redge
     subcomponent: boat
 parameters:
+  boat._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  bow._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  bow._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  bow._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  bow._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  bow._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  bow._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  bow._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  bow.point:
+    defaultValue: 50
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
   depth:
     defaultValue: 40
     spec:
@@ -31,6 +121,48 @@ parameters:
       minValue: 0
       units: mm
       valueType: (float, int)
+  stern._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  stern._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  stern._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  stern._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  stern._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  stern._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  stern._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
   width:
     defaultValue: 70
     spec:
@@ -43,6 +175,20 @@ subcomponents:
     classname: SimpleUChannel
     kwargs: {}
     parameters:
+      _dx:
+        parameter: boat._dx
+      _dy:
+        parameter: boat._dy
+      _dz:
+        parameter: boat._dz
+      _q_a:
+        parameter: boat._q_a
+      _q_i:
+        parameter: boat._q_i
+      _q_j:
+        parameter: boat._q_j
+      _q_k:
+        parameter: boat._q_k
       depth:
         parameter: depth
       length:
@@ -53,9 +199,25 @@ subcomponents:
     classname: BoatPoint
     kwargs: {}
     parameters:
+      _dx:
+        parameter: bow._dx
+      _dy:
+        parameter: bow._dy
+      _dz:
+        parameter: bow._dz
+      _q_a:
+        parameter: bow._q_a
+      _q_i:
+        parameter: bow._q_i
+      _q_j:
+        parameter: bow._q_j
+      _q_k:
+        parameter: bow._q_k
       depth:
         parameter: depth
         subcomponent: boat
+      point:
+        parameter: bow.point
       width:
         parameter: width
         subcomponent: boat
@@ -63,6 +225,20 @@ subcomponents:
     classname: BoatPoint
     kwargs: {}
     parameters:
+      _dx:
+        parameter: stern._dx
+      _dy:
+        parameter: stern._dy
+      _dz:
+        parameter: stern._dz
+      _q_a:
+        parameter: stern._q_a
+      _q_i:
+        parameter: stern._q_i
+      _q_j:
+        parameter: stern._q_j
+      _q_k:
+        parameter: stern._q_k
       depth:
         parameter: depth
         subcomponent: boat

rocolib/library/BoatWithMount.yaml

@@ -13,13 +13,13 @@ connections:
   - {}
   connection2:
   - - mount0
-    - beam.tabedge
+    - beam.botedge2
   - - split0
     - botedge4
   - angle: -180
   connection3:
   - - mount1
-    - beam.tabedge
+    - beam.botedge2
   - - split1
     - botedge5
   - angle: -180

rocolib/library/PaddleboatWithCamera.yaml

+connections:
+  connection0:
+  - - boat
+    - staredge
+  - - split0
+    - topedge0
+  - {}
+  connection1:
+  - - boat
+    - portedge
+  - - split1
+    - topedge0
+  - {}
+  connection2:
+  - - mount0
+    - beam.botedge2
+  - - split0
+    - botedge4
+  - angle: -180
+  connection3:
+  - - mount1
+    - beam.botedge2
+  - - split1
+    - botedge5
+  - angle: -180
+interfaces: {}
+parameters:
+  boat.boat._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat.boat._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat.boat._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat.boat._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.boat._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.boat._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.boat._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.bow._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat.bow._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat.bow._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat.bow._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.bow._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.bow._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.bow._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.bow.point:
+    defaultValue: 50
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  boat.depth:
+    defaultValue: 40
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  boat.length:
+    defaultValue: 130
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  boat.stern._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat.stern._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat.stern._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat.stern._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.stern._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.stern._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.stern._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.width:
+    defaultValue: 70
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  driveservo:
+    defaultValue: fs90r
+    spec:
+      valueType: str
+source: ../builders/PaddleboatWithCameraBuilder.py
+subcomponents:
+  boat:
+    classname: BoatBaseFlat
+    kwargs: {}
+    parameters:
+      boat._dx:
+        parameter: boat.boat._dx
+      boat._dy:
+        parameter: boat.boat._dy
+      boat._dz:
+        parameter: boat.boat._dz
+      boat._q_a:
+        parameter: boat.boat._q_a
+      boat._q_i:
+        parameter: boat.boat._q_i
+      boat._q_j:
+        parameter: boat.boat._q_j
+      boat._q_k:
+        parameter: boat.boat._q_k
+      bow._dx:
+        parameter: boat.bow._dx
+      bow._dy:
+        parameter: boat.bow._dy
+      bow._dz:
+        parameter: boat.bow._dz
+      bow._q_a:
+        parameter: boat.bow._q_a
+      bow._q_i:
+        parameter: boat.bow._q_i
+      bow._q_j:
+        parameter: boat.bow._q_j
+      bow._q_k:
+        parameter: boat.bow._q_k
+      bow.point:
+        parameter: boat.bow.point
+      depth:
+        parameter: boat.depth
+      length:
+        parameter: boat.length
+      stern._dx:
+        parameter: boat.stern._dx
+      stern._dy:
+        parameter: boat.stern._dy
+      stern._dz:
+        parameter: boat.stern._dz
+      stern._q_a:
+        parameter: boat.stern._q_a
+      stern._q_i:
+        parameter: boat.stern._q_i
+      stern._q_j:
+        parameter: boat.stern._q_j
+      stern._q_k:
+        parameter: boat.stern._q_k
+      width:
+        parameter: boat.width
+  mount0:
+    classname: MountedServo
+    kwargs: {}
+    parameters:
+      center: false
+      length:
+        parameter: boat.width
+      servo:
+        parameter: driveservo
+  mount1:
+    classname: MountedServo
+    kwargs: {}
+    parameters:
+      center: false
+      length:
+        parameter: boat.width
+      servo:
+        parameter: driveservo
+  split0:
+    classname: SplitEdge
+    kwargs: {}
+    parameters:
+      botlength:
+        function: (getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1],
+          "motorwidth"),getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), x[0]-
+          9 * getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"),getDim(x[1],
+          "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"))
+        parameter: &id001
+        - boat.length
+        - driveservo
+      toplength:
+        function: (x,)
+        parameter: boat.length
+  split1:
+    classname: SplitEdge
+    kwargs: {}
+    parameters:
+      botlength:
+        function: (getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1],
+          "motorwidth"),getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), x[0]-
+          9 * getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"),getDim(x[1],
+          "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"))
+        parameter: *id001
+      toplength:
+        function: (x,)
+        parameter: boat.length

rocolib/library/PaddleboatWtihCamera.yaml

+connections:
+  connection0:
+  - - boat
+    - staredge
+  - - split0
+    - topedge0
+  - {}
+  connection1:
+  - - boat
+    - portedge
+  - - split1
+    - topedge0
+  - {}
+interfaces: {}
+parameters:
+  driveservo:
+    defaultValue: fs90r
+    spec:
+      valueType: str
+source: ../builders/PaddleboatWithCameraBuilder.py
+subcomponents:
+  boat:
+    classname: BoatBaseFlat
+    kwargs: {}
+    parameters: {}
+  mount0:
+    classname: MountedServo
+    kwargs: {}
+    parameters:
+      center: false
+      length:
+        parameter: width
+      servo:
+        parameter: driveservo
+  mount1:
+    classname: MountedServo
+    kwargs: {}
+    parameters:
+      center: false
+      length:
+        parameter: width
+      servo:
+        parameter: driveservo
+  mount2:
+    classname: MountedServo
+    kwargs: {}
+    parameters:
+      center: false
+      length:
+        parameter: width
+      servo:
+        parameter: driveservo
+  rect0:
+    classname: Rectangle
+    kwargs: {}
+    parameters:
+      l:
+        parameter: depth
+      w:
+        function: getDim(x, 'motorwidth')
+        parameter: driveservo
+  rect1:
+    classname: Rectangle
+    kwargs: {}
+    parameters:
+      l:
+        parameter: depth
+      w:
+        function: getDim(x, 'motorwidth')
+        parameter: driveservo
+  split0:
+    classname: SplitEdge
+    kwargs: {}
+    parameters:
+      botlength:
+        function: (getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1],
+          "motorwidth"),getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), x[0]-
+          9 * getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"),getDim(x[1],
+          "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"))
+        parameter: &id001
+        - length
+        - driveservo
+      toplength:
+        function: (x,)
+        parameter: length
+  split1:
+    classname: SplitEdge
+    kwargs: {}
+    parameters:
+      botlength:
+        function: (getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1],
+          "motorwidth"),getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), x[0]-
+          9 * getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"),getDim(x[1],
+          "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"))
+        parameter: *id001
+      toplength:
+        function: (x,)
+        parameter: length

rocolib/output/BoatWithMount/graph-model.stl

@@ -183,198 +183,198 @@ endloop
 endfacet
 facet normal 0 0 0
 outer loop
-vertex -0.0065 -0.0250 0.0000
-vertex -0.0064 -0.0030 0.0000
-vertex -0.0065 0.0250 0.0000
+vertex 0.0440 0.0130 0.0100
+vertex 0.0440 0.0129 -0.0120
+vertex 0.0440 0.0130 -0.0400
 endloop
 endfacet
 facet normal 0 0 0
 outer loop
-vertex -0.0064 -0.0030 0.0000
-vertex -0.0065 -0.0250 0.0000
-vertex 0.0065 -0.0250 0.0000
+vertex 0.0440 0.0129 -0.0120
+vertex 0.0440 0.0130 0.0100
+vertex 0.0440 0.0000 0.0100
 endloop
 endfacet
 facet normal 0 0 0
 outer loop
-vertex -0.0065 0.0250 0.0000
-vertex -0.0064 0.0200 0.0000
-vertex 0.0064 0.0200 0.0000
+vertex 0.0440 0.0130 -0.0400
+vertex 0.0440 0.0129 -0.0350
+vertex 0.0440 0.0001 -0.0350
 endloop
 endfacet
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 endloop
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