diff --git a/rocolib/builders/BatteryStackMountBuilder.py b/rocolib/builders/BatteryStackMountBuilder.py
new file mode 100644
index 0000000000000000000000000000000000000000..195e105bb15cf7bdf8e1e2b0f21b3e2db4ccbf96
--- /dev/null
+++ b/rocolib/builders/BatteryStackMountBuilder.py
@@ -0,0 +1,13 @@
+from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
+
+
+c = Component()
+
+c.addSubcomponent("holder", "SimpleRectBeam", inherit=True, prefix=None)
+
+c.addConstraint(("holder", "length"), "depth", "60") #the support is as long as the boat is wide
+c.addConstraint(("holder", "width"), "depth", "60")
+c.addConstraint(("holder", "depth"), "depth", "60")
+
+c.toLibrary("BatteryStackMount")
diff --git a/rocolib/builders/BoatBaseBuilder.py b/rocolib/builders/BoatBaseBuilder.py
index 6007f07dbffb1fd073dcdbea4a2af8425e6009fd..6e943e6caea412a0b2045e83adf36d19c2318de2 100644
--- a/rocolib/builders/BoatBaseBuilder.py
+++ b/rocolib/builders/BoatBaseBuilder.py
@@ -2,11 +2,11 @@ from rocolib.api.components.Component import Component
c = Component()
-c.addSubcomponent("boat","SimpleUChannel", inherit=True)
-c.addSubcomponent("bow","BoatPoint", inherit=True)
-c.addSubcomponent("stern","BoatPoint", inherit=True)
+c.addSubcomponent("boat","SimpleUChannel", inherit=("depth", "length","width"))
+c.addSubcomponent("bow","BoatPoint", inherit="point")
+c.addSubcomponent("stern","BoatPoint", inherit="point")
-c.join(("boat", "top"), ("bow", "edge"))
+c.join(("boat", "top"), ("bow", "edge")) #can't be addConnection because that gives ValueError: Edge boat.r0.e0 of length 20.000000 cannot merge with edge bow.sl.e1 of length 25.000000.
c.join(("boat", "bot"), ("stern", "edge"))
c.inheritInterface("portedge", ("boat", "ledge"))
diff --git a/rocolib/builders/BoatPointFlatBuilder.py b/rocolib/builders/BoatPointFlatBuilder.py
deleted file mode 100644
index d01e0e219b6af0bb62b0541e46fd1d3301f1e0ac..0000000000000000000000000000000000000000
--- a/rocolib/builders/BoatPointFlatBuilder.py
+++ /dev/null
@@ -1,17 +0,0 @@
-from rocolib.api.components.Component import Component
-
-c = Component()
-
-c.addSubcomponent("boat","SimpleUChannel", inherit=True, prefix=None)
-c.addSubcomponent("bow","BoatPoint")
-c.addSubcomponent("stern","BoatPoint")
-
-c.addConstraint(("stern", "point"), "width", "0")
-
-c.join(("boat", "top"), ("bow", "edge"))
-c.join(("boat", "bot"), ("stern", "edge"))
-
-c.inheritInterface("portedge", ("boat", "ledge"))
-c.inheritInterface("staredge", ("boat", "redge"))
-
-c.toLibrary("BoatBaseFlat")
diff --git a/rocolib/builders/BoatWithDCMountBuilder.py b/rocolib/builders/BoatWithDCMountBuilder.py
new file mode 100644
index 0000000000000000000000000000000000000000..ed7e4223e6c04bf6db5130ace14ee7ead84642dd
--- /dev/null
+++ b/rocolib/builders/BoatWithDCMountBuilder.py
@@ -0,0 +1,29 @@
+from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
+
+c = Component()
+
+c.addSubcomponent("boat", "BoatBase", inherit=True, prefix=None)
+c.inheritAllInterfaces("boat")
+c.addSubcomponent("dcMount", "DCMotorMount", inherit=True)
+
+c.addConstraint(("dcMount", "mountWidth"), "boat.width")
+c.addConstraint(("dcMount", "supportLength"), "boat.depth")
+
+c.addParameter("topDistance", 50, paramType="length") #@ankur make this half the boat.length
+c.addParameter("botDistance", 50, paramType="length")
+
+for i in range(2):
+ c.addSubcomponent("split%d" %i, "SplitEdge")
+ c.addConstraint(("split%d" %i, "toplength"), "boat.length", "(x,)")
+
+c.addConstraint(("split0", "botlength"), ("topDistance", "botDistance"), "(x[0]-5, 10, x[1]-5)")
+c.addConstraint(("split1", "botlength"), ("topDistance", "botDistance"), "(x[1]-5, 10, x[0]-5)")
+
+c.addConnection(("boat", "portedge"), ("split0", "topedge0"))
+c.addConnection(("boat", "staredge"), ("split1", "topedge0"))
+
+c.addConnection(("dcMount","rightArmInterface"), ("split0", "botedge1"), angle=-180)
+c.addConnection(("dcMount","rightArmInterface"), ("split1", "botedge1"), tabWidth=5)
+
+c.toLibrary("BoatWithDCMount")
diff --git a/rocolib/builders/BoatWithMountBuilder.py b/rocolib/builders/BoatWithMountBuilder.py
index 29dec83584dcb2a5778d01bb9209ab6f09266f03..2778fed1fdbc7921108fde6bc3bc661cf74278e3 100644
--- a/rocolib/builders/BoatWithMountBuilder.py
+++ b/rocolib/builders/BoatWithMountBuilder.py
@@ -44,4 +44,4 @@ c.addConnection(("rect0", "r"), ("mount2", "beam.botedge2"), angle=-90)
c.addConnection(("rect1", "r"), ("mount2", "beam.topedge2"), angle=-90)
c.addConnection(("rect1", "l"), ("split1", "botedge3"), tabWidth=8)
-c.toLibrary("BoatWithMount")
\ No newline at end of file
+c.toLibrary("BoatWithMount")
diff --git a/rocolib/builders/Boat_StackMountBuilder.py b/rocolib/builders/Boat_StackMountBuilder.py
new file mode 100644
index 0000000000000000000000000000000000000000..89cd346640748fd9d2e894bb5c5e232a065fb081
--- /dev/null
+++ b/rocolib/builders/Boat_StackMountBuilder.py
@@ -0,0 +1,56 @@
+from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
+
+
+c = Component()
+
+c.addSubcomponent("stack", "SubESP32Stack", inherit=True, prefix=None)
+
+c.addParameter("depth", 70, paramType="length") #must set to boat depth
+c.addParameter("width", 70, paramType="length") #must set to boat depth
+
+c.addSubcomponent("topCover", "Rectangle")
+c.addConstraint(("topCover", "w"), "brains", "getDim(x, 'width')")
+c.addConstraint(("topCover", "l"), "depth", "60") #the support is as long as the boat is wide
+
+c.addSubcomponent("botCover", "Rectangle")
+c.addConstraint(("botCover", "w"), "brains", "getDim(x, 'width')")
+c.addConstraint(("botCover", "l"), "depth", "60") #the support is as long as the boat is wide
+
+c.addConnection(("botCover", "l"), ("stack", "topedge0"), angle=90, tabWidth=10)
+c.addConnection(("topCover", "r"), ("stack", "botedge0"), angle=90, tabWidth=7)
+
+#c.addConnection(("botCover", "t"), ("stack", "botedge1"), angle=90, tabWidth=10)
+c.addConnection(("topCover", "t"), ("stack", "topedge1"), angle=90)
+
+c.addConnection(("botCover", "r"), ("stack", "topedge2"), angle=90, tabWidth=10)
+c.addConnection(("topCover", "l"), ("stack", "botedge2"), angle=90, tabWidth=7)
+
+#c.addConnection(("botCover", "b"), ("stack", "topedge3"), angle=90, tabWidth=10)
+c.addConnection(("topCover", "b"), ("stack", "topedge3"), angle=90, tabWidth=7)
+
+c.addSubcomponent("servoPins", "Cutout")
+c.addConstraint(("servoPins", "dx"), "depth", "11")
+c.addConstraint(("servoPins", "dy"), "depth", "13")
+c.addConnection(("botCover", "face"),
+ ("servoPins", "decoration"),
+ mode="hole",offset=Function(params=("depth"), fnstring="(-7, 0)"))#offset=Function(params=("dy1"), fnstring="(10, 0)")
+
+c.addSubcomponent("microUSB", "Cutout")
+c.addConstraint(("microUSB", "dx"), "depth", "6")
+c.addConstraint(("microUSB", "dy"), "depth", "10")
+c.addConnection(("botCover", "face"),
+ ("microUSB", "decoration"),
+ mode="hole",offset=Function(params=("depth"), fnstring="(22, 0)"))#offset=Function(params=("dy1"), fnstring="(10, 0)")
+
+c.addSubcomponent("lArm", "Rectangle", inherit=True)
+c.addConstraint(("lArm", "w"), ("depth", "width"), "((0.5 * x[0]) ** 2 + (60 - x[1]) ** 2) ** 0.5") #c.addConstraint(("split0", "botlength"), "length", "(1/3*x-10, 10, 2/3*x)")
+c.addConstraint(("lArm", "l"), "depth", "60") #the support is as long as the boat is wide
+c.addConnection(("lArm", "b"), ("botCover", "t"), angle=45)
+
+c.addSubcomponent("rArm", "Rectangle", inherit=True)
+c.addConstraint(("rArm", "w"), ("depth", "width"), "((0.5 * x[0]) ** 2 + (60 - x[1]) ** 2) ** 0.5")
+c.addConstraint(("rArm", "l"), "depth", "60") #the support is as long as the boat is wide
+c.addConnection(("rArm", "b"), ("botCover", "b"), angle=45)
+
+c.toLibrary("Boat_StackMount")
diff --git a/rocolib/builders/DCMotorMountBuilder.py b/rocolib/builders/DCMotorMountBuilder.py
new file mode 100644
index 0000000000000000000000000000000000000000..1394269c5bb9b2d77a5d2af874a0b849d9ec5d37
--- /dev/null
+++ b/rocolib/builders/DCMotorMountBuilder.py
@@ -0,0 +1,48 @@
+from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
+
+c = Component()
+
+c.addSubcomponent("leftArm", "Rectangle")
+c.addSubcomponent("rightArm", "Rectangle")
+c.addSubcomponent("dcMount", "SimpleRectBeam")
+
+c.addParameter("motorWidth", 8, parameterType="length")
+c.addParameter("motorHeight", 8, parameterType="length")
+c.addParameter("mountWidth", 40, parameterType="length") # = boat width
+c.addParameter("supportLength", 60, parameterType="length") # = boat depth
+
+c.addSubcomponent("cutout1", "Cutout")
+c.addSubcomponent("cutout2", "Cutout")
+
+c.addConstraint(("cutout1", "dx"), "motorWidth")
+c.addConstraint(("cutout1", "dy"), "motorHeight")
+
+c.addConstraint(("cutout2", "dx"), "motorWidth")
+c.addConstraint(("cutout2", "dy"), "motorHeight")
+
+c.addConnection(("dcMount", "face0"),
+ ("cutout1", "decoration"),
+ mode="hole", offset=Function(params=("motorWidth"), fnstring="(-10, 0)"))
+
+c.addConnection(("dcMount", "face2"),
+ ("cutout2", "decoration"),
+ mode="hole", offset=Function(params=("motorWidth"), fnstring="(10, 0)"))
+
+c.addConstConstraint(("leftArm", "w"), 10)
+c.addConstraint(("leftArm", "l"), "mountWidth") #DEPTH OF BOAT - 3 for the tab
+
+c.addConstConstraint(("rightArm", "w"), 10)
+c.addConstraint(("rightArm", "l"), "mountWidth") #DEPTH OF BOAT
+
+c.addConstraint(("dcMount", "length"), "mountWidth") #boat width
+c.addConstConstraint(("dcMount", "width"), 30)
+c.addConstConstraint(("dcMount", "depth"), 10)
+
+c.join(("dcMount", "topedge1"), ("leftArm", "r")) #l/r, not t/b
+c.join(("dcMount", "botedge1"), ("rightArm", "r"))
+
+c.inheritInterface("leftArmInterface", ("leftArm", "l"))
+c.inheritInterface("rightArmInterface", ("rightArm", "l"))
+
+c.toLibrary("DCMotorMount")
diff --git a/rocolib/builders/ESP32StackBoatBuilder.py b/rocolib/builders/ESP32StackBoatBuilder.py
index f4c36a1e936d00d59aa0145115232e30994ff8df..2435d0c31f81de25491988c8062508acac0f6e60 100644
--- a/rocolib/builders/ESP32StackBoatBuilder.py
+++ b/rocolib/builders/ESP32StackBoatBuilder.py
@@ -3,53 +3,19 @@ from rocolib.api.components.Component import Component
#ESP3 STACK WITH PWM SERVO FEATHERWING
c = Component()
-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.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.addParameter("width", 70, paramType="length")
+c.addParameter("depth", 70, paramType="length")
-c.addSubcomponent("stack", "SubESP32Stack")
+c.addSubcomponent("boat", "BoatBaseFlat", inherit=True)
+c.inheritAllInterfaces("boat")
+c.addSubcomponent("stack", "Boat_StackMount", inherit=True)
+c.inheritAllInterfaces("stack")
+c.addSubcomponent("split0", "SplitEdge", inherit=True)
+c.addSubcomponent("split1", "SplitEdge", inherit=True)
-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"), "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", "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)
-
+#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.toLibrary("ESP32StackBoat")
\ No newline at end of file
+c.toLibrary("ESP32StackBoat")
diff --git a/rocolib/builders/PaddleboatWithCameraBuilder.py b/rocolib/builders/PaddleboatWithCameraBuilder.py
new file mode 100644
index 0000000000000000000000000000000000000000..ff131a4e05fbd9e5da1bf64d287526939f68e3b1
--- /dev/null
+++ b/rocolib/builders/PaddleboatWithCameraBuilder.py
@@ -0,0 +1,48 @@
+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, "SideServoMount", prefix=None)
+ c.addConstraint(("mount%d" %i, "servo"), "driveservo")
+ # c.addConstraint(("mount%d" %i, "length"), "boat.width")
+ # c.addConstConstraint(("mount%d" %i, "center"), False)
+
+#mirrored
+c.addSubcomponent("split0", "SplitEdge")
+c.addConstraint(("split0", "toplength"), "boat.length", "(x,)") #'((x[0] - getDim(x[1], "width")))'
+c.addConstraint(("split0", "botlength"), ("boat.length", "driveservo"), '(x[0] - 74 - 15 - getDim(x[1], "motorlength"), 15, getDim(x[1], "motorlength"), 74)')
+
+c.addSubcomponent("split1", "SplitEdge")
+c.addConstraint(("split1", "toplength"), "boat.length", "(x,)") #'((x[0] - getDim(x[1], "width")))'
+c.addConstraint(("split1", "botlength"), ("boat.length", "driveservo"), '(74, getDim(x[1], "motorlength"), 15, x[0] - 74 - 15 - getDim(x[1], "motorlength"))') #'(74, getDim(x[1], "motorlength"), x[0] - 74 - getDim(x[1], "motorlength"))'
+
+c.addConnection(("boat", "staredge"), ("split0", "topedge0")) #topedge so that the motor mounts are placed outside of the boat hull
+c.addConnection(("boat", "portedge"), ("split1", "topedge0"))
+#
+c.addConnection(("mount0", "botedge3"), ("split0", "botedge2"), angle=-180)
+c.addConnection(("mount1", "topedge3"), ("split1", "botedge1"), angle=-180)
+
+#Seats -- might only have space for one band that functions as a boat support
+c.addSubcomponent("flopSupport", "Rectangle")
+c.addConstraint(("flopSupport", "l"), "boat.width")
+c.addConstraint(("flopSupport", "w"), "boat.width", "15") #asks for another param, so I just put boat.width
+c.addConnection(("split0", "botedge1"), ("flopSupport", "r"), angle=90)
+c.addConnection(("split1", "botedge2"), ("flopSupport", "l"), tabWidth=6, angle=90)
+
+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"), "depth")
+
+c.toLibrary("PaddleboatWithCamera")
diff --git a/rocolib/builders/ServoMountBuilder.py b/rocolib/builders/ServoMountBuilder.py
index 64f34d8aa69e749b567b7a003a53fb3ba1b90b8d..82c4dce67ddd21dd0a1ae3a40121132ce34c7779 100644
--- a/rocolib/builders/ServoMountBuilder.py
+++ b/rocolib/builders/ServoMountBuilder.py
@@ -16,8 +16,8 @@ c.addSubcomponent("mount", "Cutout")
c.addConstraint(("mount", "dx"), "servo", 'getDim(x, "motorwidth") * 0.99')
c.addConstraint(("mount", "dy"), "servo", 'getDim(x, "motorlength")')
-c.addConstraint(("beam", "width"), "servo", 'getDim(x, "motorwidth")')
-c.addConstraint(("beam", "depth"), "servo", 'getDim(x, "motorheight")')
+c.addConstraint(("beam", "width"), "servo", 'getDim(x, "motorheight")')
+c.addConstraint(("beam", "depth"), "servo", 'getDim(x, "motorwidth")')
c.inheritAllInterfaces("beam", prefix=None)
c.inheritAllInterfaces("mount")
@@ -27,4 +27,4 @@ c.addConnection(("beam", "face0"),
c.inheritAllInterfaces("beam")
-c.toLibrary("ServoMount")
\ No newline at end of file
+c.toLibrary("ServoMount")
diff --git a/rocolib/builders/SideServoMountBuilder.py b/rocolib/builders/SideServoMountBuilder.py
new file mode 100644
index 0000000000000000000000000000000000000000..c115a915180ac776d923d19ef40bd4bf14f8b32a
--- /dev/null
+++ b/rocolib/builders/SideServoMountBuilder.py
@@ -0,0 +1,64 @@
+from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
+
+c = Component()
+
+c.addParameter("servo", "fs90r", paramType="dimension")
+# c.addParameter("flip", False, valueType="bool")
+# c.addParameter("center", True, valueType="bool")
+# c.addParameter("shift", 0, paramType="length")
+# XXX TODO: Define type: tuple of two numbers
+c.addParameter("offset", optional=True, overrides=("flip", "center", "shift"))
+
+c.addParameter("length", 34, paramType="length")
+c.addParameter("width", 20, paramType="length")
+c.addParameter("depth", 24, paramType="length")
+
+c.addSubcomponent("beam", "SimpleRectBeam", prefix=None)
+c.addSubcomponent("mount", "Cutout")
+
+c.addSubcomponent("servoArm0", "Cutout")
+c.addSubcomponent("servoArm1", "Cutout")
+
+c.addParameter("dxServoArm", 4, parameterType="length") #the little servo cutout
+c.addParameter("dyServoArm", 12, parameterType="length")
+
+c.addConstraint(("servoArm0", "dx"), "dxServoArm")
+c.addConstraint(("servoArm0", "dy"), "dyServoArm")
+c.addConstraint(("servoArm1", "dx"), "dxServoArm")
+c.addConstraint(("servoArm1", "dy"), "dyServoArm")
+
+c.addSubcomponent("wires", "Cutout")
+c.addParameter("wiresDx", 4, parameterType="length") #the little servo cutout
+c.addParameter("wiresDy", 9, parameterType="length") #the little servo cutout
+c.addConstraint(("wires", "dx"), "wiresDx")
+c.addConstraint(("wires", "dy"), "wiresDy")
+
+c.addParameter("dxServo", 23, parameterType="length") #the little servo cutout
+c.addParameter("dyServo", 12, parameterType="length")
+#
+c.addConstraint(("mount", "dx"), "dxServo")
+c.addConstraint(("mount", "dy"), "dyServo")
+#
+c.addConstraint(("beam", "length"), "length")
+c.addConstraint(("beam", "width"), "width")
+c.addConstraint(("beam", "depth"), "depth")
+
+
+c.inheritAllInterfaces("beam", prefix=None)
+c.inheritAllInterfaces("mount")
+
+c.addConnection(("beam", "face0"),
+ ("servoArm0", "decoration"),
+ mode="hole",offset=Function(params=("dxServoArm"), fnstring="(7, 0)"))
+
+c.addConnection(("beam", "face2"),
+ ("servoArm1", "decoration"),
+ mode="hole",offset=Function(params=("dxServoArm"), fnstring="(-7, 0)"))
+
+c.addConnection(("beam", "face1"),
+ ("mount", "decoration"),
+ mode="hole") #, offset=Function(params=("dy1"), fnstring="(10, 0)")
+c.addConnection(("beam", "face2"), ("wires", "decoration"), mode="hole",offset=Function(params=("wiresDx"), fnstring="(5, 0)"))
+
+c.toLibrary("SideServoMount")
diff --git a/rocolib/builders/SubESP32StackBuilder.py b/rocolib/builders/SubESP32StackBuilder.py
index 52faeb78af1d1a5480a63b5c987bf4addbeb1ab2..6d9accee51a8c5f96470771cb74de5633055a314 100644
--- a/rocolib/builders/SubESP32StackBuilder.py
+++ b/rocolib/builders/SubESP32StackBuilder.py
@@ -7,11 +7,11 @@ c = Component()
c.addSubcomponent("holder", "SimpleRectBeam")
#Dimensions of the ESP32 Stack
-c.addParameter("length", 60, paramType="length")
+c.addParameter("length", 61, paramType="length")
c.addParameter("brains", "esp32stack", paramType="dimension")
c.addConstraint(("holder", "length"), "length")
-c.addConstraint(("holder", "depth"), "brains", "getDim(x, 'height')")
+c.addConstraint(("holder", "depth"), "brains", "60")
c.addConstraint(("holder", "width"), "brains", "getDim(x, 'width')")
#This parameter will change when the dimensions of the car or vehicle is changed
@@ -66,4 +66,4 @@ c.addConnection(("holder", "face1"),
c.inheritAllInterfaces("holder", prefix=None)
-c.toLibrary("SubESP32Stack")
\ No newline at end of file
+c.toLibrary("SubESP32Stack")
diff --git a/rocolib/library/BoatBase.yaml b/rocolib/library/BoatBase.yaml
index 33297f27cff7e2018cdacbf8958117a9ac5d6dc1..2ffa5ad0f2f88ef38ac8a2d8cab199983380379e 100644
--- a/rocolib/library/BoatBase.yaml
+++ b/rocolib/library/BoatBase.yaml
@@ -19,48 +19,6 @@ 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)
boat.depth:
defaultValue: 20
spec:
@@ -79,122 +37,24 @@ parameters:
minValue: 0
units: mm
valueType: (float, int)
- 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)
- 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)
stern.point:
defaultValue: 50
spec:
minValue: 0
units: mm
valueType: (float, int)
-source: ..\builders\BoatBaseBuilder.py
+source: ../builders/BoatBaseBuilder.py
subcomponents:
boat:
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: boat.depth
length:
@@ -205,20 +65,6 @@ 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
@@ -231,20 +77,6 @@ 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
diff --git a/rocolib/library/BoatBaseFlat.yaml b/rocolib/library/BoatBaseFlat.yaml
index 50f09b37e25af7c5cd5b3856ea8277a20ab3cbfe..7c1cdbbb1883b30fa65a4517e4ef66a4436e298f 100644
--- a/rocolib/library/BoatBaseFlat.yaml
+++ b/rocolib/library/BoatBaseFlat.yaml
@@ -1,130 +1,79 @@
connections:
connection0:
- - - boat
- - top
- - - bow
- - edge
- - {}
+ - - dcMount
+ - face0
+ - - cutout1
+ - decoration
+ - mode: hole
+ offset:
+ function: (-10, 0)
+ parameter: dy1
connection1:
- - - boat
- - bot
- - - stern
- - edge
- - {}
-interfaces:
- portedge:
- interface: ledge
- subcomponent: boat
- staredge:
- interface: redge
- subcomponent: boat
+ - - dcMount
+ - face2
+ - - cutout2
+ - decoration
+ - mode: hole
+ offset:
+ function: (10, 0)
+ parameter: dy1
+interfaces: {}
parameters:
- _dx:
- defaultValue: 0
+ dx1:
+ defaultValue: 8
spec:
- minValue: null
- units: mm
- valueType: (float, int)
- _dy:
- defaultValue: 0
+ parameterType: length
+ dy1:
+ defaultValue: 8
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)
- depth:
- defaultValue: 20
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- length:
- defaultValue: 100
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- width:
- defaultValue: 50
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
-source: ..\builders\BoatPointFlatBuilder.py
+ parameterType: length
+source: ../builders/DCMotorMountBuilder.py
subcomponents:
- boat:
- classname: SimpleUChannel
+ cutout1:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx:
+ parameter: dx1
+ dy:
+ parameter: dy1
+ cutout2:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx:
+ parameter: dx1
+ dy:
+ parameter: dy1
+ dcMount:
+ 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
depth:
+ function: '10'
parameter: depth
length:
- parameter: length
+ parameter: width
width:
+ function: '30'
parameter: width
- bow:
- classname: BoatPoint
+ leftArm:
+ classname: Rectangle
kwargs: {}
parameters:
- depth:
- parameter: depth
- subcomponent: boat
- width:
+ l:
+ function: '37'
+ parameter: width
+ w:
+ function: '10'
parameter: width
- subcomponent: boat
- stern:
- classname: BoatPoint
+ rightArm:
+ classname: Rectangle
kwargs: {}
parameters:
- depth:
- parameter: depth
- subcomponent: boat
- point:
- function: '0'
+ l:
+ function: '40'
parameter: width
- width:
+ w:
+ function: '10'
parameter: width
- subcomponent: boat
diff --git a/rocolib/library/BoatWithDCMount.yaml b/rocolib/library/BoatWithDCMount.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7d26e88d4697adb215189f60fcc8e3aacea7cf50
--- /dev/null
+++ b/rocolib/library/BoatWithDCMount.yaml
@@ -0,0 +1,133 @@
+connections:
+ connection0:
+ - - boat
+ - portedge
+ - - split0
+ - topedge0
+ - {}
+ connection1:
+ - - boat
+ - staredge
+ - - split1
+ - topedge0
+ - {}
+ connection2:
+ - &id001
+ - dcMount
+ - rightArmInterface
+ - - split0
+ - botedge1
+ - angle: -180
+ connection3:
+ - *id001
+ - - split1
+ - botedge1
+ - tabWidth: 5
+interfaces:
+ boat.portedge:
+ interface: portedge
+ subcomponent: boat
+ boat.staredge:
+ interface: staredge
+ subcomponent: boat
+parameters:
+ boat.depth:
+ defaultValue: 20
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ boat.length:
+ defaultValue: 100
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ boat.width:
+ defaultValue: 50
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ botDistance:
+ defaultValue: 50
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ bow.point:
+ defaultValue: 50
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ dcMount.motorHeight:
+ defaultValue: 8
+ spec:
+ parameterType: length
+ dcMount.motorWidth:
+ defaultValue: 8
+ spec:
+ parameterType: length
+ stern.point:
+ defaultValue: 50
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ topDistance:
+ defaultValue: 50
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+source: ../builders/BoatWithDCMountBuilder.py
+subcomponents:
+ boat:
+ classname: BoatBase
+ kwargs: {}
+ parameters:
+ boat.depth:
+ parameter: boat.depth
+ boat.length:
+ parameter: boat.length
+ boat.width:
+ parameter: boat.width
+ bow.point:
+ parameter: bow.point
+ stern.point:
+ parameter: stern.point
+ dcMount:
+ classname: DCMotorMount
+ kwargs: {}
+ parameters:
+ motorHeight:
+ parameter: dcMount.motorHeight
+ motorWidth:
+ parameter: dcMount.motorWidth
+ mountWidth:
+ parameter: boat.width
+ supportLength:
+ parameter: boat.depth
+ split0:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: (x[0]-5, 10, x[1]-5)
+ parameter: &id002
+ - topDistance
+ - botDistance
+ toplength:
+ function: (x,)
+ parameter: boat.length
+ split1:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: (x[1]-5, 10, x[0]-5)
+ parameter: *id002
+ toplength:
+ function: (x,)
+ parameter: boat.length
diff --git a/rocolib/library/BoatWithMount.yaml b/rocolib/library/BoatWithMount.yaml
index df03a9aca4140b57d1a66aaf02f4c0d426ca5553..1820974cb9cd8a6bfc391029cdf436d2a2f21e66 100644
--- a/rocolib/library/BoatWithMount.yaml
+++ b/rocolib/library/BoatWithMount.yaml
@@ -71,7 +71,7 @@ parameters:
minValue: 0
units: mm
valueType: (float, int)
-source: ..\builders\BoatWithMountBuilder.py
+source: ../builders/BoatWithMountBuilder.py
subcomponents:
boat:
classname: BoatBase
diff --git a/rocolib/library/Boat_StackMount.yaml b/rocolib/library/Boat_StackMount.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..069be14476391155ae41e91d375fcab0a5938567
--- /dev/null
+++ b/rocolib/library/Boat_StackMount.yaml
@@ -0,0 +1,286 @@
+connections:
+ connection0:
+ - - botCover
+ - l
+ - - stack
+ - topedge0
+ - angle: 90
+ tabWidth: 10
+ connection1:
+ - - topCover
+ - r
+ - - stack
+ - botedge0
+ - angle: 90
+ tabWidth: 7
+ connection2:
+ - - topCover
+ - t
+ - - stack
+ - topedge1
+ - angle: 90
+ connection3:
+ - - botCover
+ - r
+ - - stack
+ - topedge2
+ - angle: 90
+ tabWidth: 10
+ connection4:
+ - - topCover
+ - l
+ - - stack
+ - botedge2
+ - angle: 90
+ tabWidth: 7
+ connection5:
+ - - topCover
+ - b
+ - - stack
+ - topedge3
+ - angle: 90
+ tabWidth: 7
+ connection6:
+ - &id001
+ - botCover
+ - face
+ - - servoPins
+ - decoration
+ - mode: hole
+ offset:
+ function: (-7, 0)
+ parameter: depth
+ connection7:
+ - *id001
+ - - microUSB
+ - decoration
+ - mode: hole
+ offset:
+ function: (22, 0)
+ parameter: depth
+ connection8:
+ - - lArm
+ - b
+ - - botCover
+ - t
+ - angle: 45
+ connection9:
+ - - rArm
+ - b
+ - - botCover
+ - b
+ - angle: 45
+interfaces: {}
+parameters:
+ brains:
+ defaultValue: esp32stack
+ spec:
+ valueType: str
+ depth:
+ defaultValue: 70
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ dy1:
+ defaultValue: 18
+ spec:
+ parameterType: length
+ lArm._dx:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ lArm._dy:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ lArm._dz:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ lArm._q_a:
+ defaultValue: 1
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ lArm._q_i:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ lArm._q_j:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ lArm._q_k:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ length:
+ defaultValue: 61
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ rArm._dx:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ rArm._dy:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ rArm._dz:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ rArm._q_a:
+ defaultValue: 1
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ rArm._q_i:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ rArm._q_j:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ rArm._q_k:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ width:
+ defaultValue: 70
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+source: ../builders/Boat_StackMountBuilder.py
+subcomponents:
+ botCover:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ function: '60'
+ parameter: depth
+ w:
+ function: getDim(x, 'width')
+ parameter: brains
+ lArm:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ _dx:
+ parameter: lArm._dx
+ _dy:
+ parameter: lArm._dy
+ _dz:
+ parameter: lArm._dz
+ _q_a:
+ parameter: lArm._q_a
+ _q_i:
+ parameter: lArm._q_i
+ _q_j:
+ parameter: lArm._q_j
+ _q_k:
+ parameter: lArm._q_k
+ l:
+ function: '60'
+ parameter: depth
+ w:
+ function: ((0.5 * x[0]) ** 2 + (60 - x[1]) ** 2) ** 0.5
+ parameter: &id002
+ - depth
+ - width
+ microUSB:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx:
+ function: '6'
+ parameter: depth
+ dy:
+ function: '10'
+ parameter: depth
+ rArm:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ _dx:
+ parameter: rArm._dx
+ _dy:
+ parameter: rArm._dy
+ _dz:
+ parameter: rArm._dz
+ _q_a:
+ parameter: rArm._q_a
+ _q_i:
+ parameter: rArm._q_i
+ _q_j:
+ parameter: rArm._q_j
+ _q_k:
+ parameter: rArm._q_k
+ l:
+ function: '60'
+ parameter: depth
+ w:
+ function: ((0.5 * x[0]) ** 2 + (60 - x[1]) ** 2) ** 0.5
+ parameter: *id002
+ servoPins:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx:
+ function: '11'
+ parameter: depth
+ dy:
+ function: '13'
+ parameter: depth
+ stack:
+ classname: SubESP32Stack
+ kwargs: {}
+ parameters:
+ brains:
+ parameter: brains
+ dy1:
+ parameter: dy1
+ length:
+ parameter: length
+ topCover:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ function: '60'
+ parameter: depth
+ w:
+ function: getDim(x, 'width')
+ parameter: brains
diff --git a/rocolib/library/Canoe.yaml b/rocolib/library/Canoe.yaml
index ee32d94a740f973ca132f67250b4cb01bc5f605e..13671019e847493b23dca2a9a421398b8ef5075f 100644
--- a/rocolib/library/Canoe.yaml
+++ b/rocolib/library/Canoe.yaml
@@ -1,17 +1,16 @@
connections:
connection0:
- - - portsplit
- - botedge0
- - boat
- - portedge
- - angle: 90
+ - top
+ - - bow
+ - edge
+ - {}
connection1:
- - - starsplit
- - topedge0
- - boat
- - staredge
- - angle: 90
- tabWidth: 10
+ - bot
+ - - stern
+ - edge
+ - {}
connection10:
- - portsplit
- topedge9
@@ -132,7 +131,13 @@ connections:
- - seat3
- r
- {}
-interfaces: {}
+interfaces:
+ portedge:
+ interface: ledge
+ subcomponent: boat
+ staredge:
+ interface: redge
+ subcomponent: boat
parameters:
boat._dx:
defaultValue: 0
@@ -242,6 +247,18 @@ parameters:
minValue: 0
units: mm
valueType: (float, int)
+ depth:
+ defaultValue: 40
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ length:
+ defaultValue: 130
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
seats:
defaultValue: 3
spec:
@@ -290,8 +307,8 @@ parameters:
maxValue: 1
minValue: -1
valueType: (int, float)
- stern.point:
- defaultValue: 50
+ width:
+ defaultValue: 70
spec:
minValue: 0
units: mm
@@ -299,62 +316,61 @@ parameters:
source: ../builders/CanoeBuilder.py
subcomponents:
boat:
- classname: BoatBase
- kwargs:
- root: true
+ classname: SimpleUChannel
+ kwargs: {}
parameters:
- boat._dx:
+ _dx:
parameter: boat._dx
- boat._dy:
+ _dy:
parameter: boat._dy
- boat._dz:
+ _dz:
parameter: boat._dz
- boat._q_a:
+ _q_a:
parameter: boat._q_a
- boat._q_i:
+ _q_i:
parameter: boat._q_i
- boat._q_j:
+ _q_j:
parameter: boat._q_j
- boat._q_k:
+ _q_k:
parameter: boat._q_k
boat.depth:
- parameter: boat.depth
+ parameter: depth
boat.length:
- parameter: boat.length
+ parameter: length
boat.width:
+ parameter: width
+ depth:
+ parameter: boat.depth
+ length:
+ parameter: boat.length
+ width:
parameter: boat.width
- bow._dx:
+ bow:
+ classname: BoatPoint
+ kwargs: {}
+ parameters:
+ _dx:
parameter: bow._dx
- bow._dy:
+ _dy:
parameter: bow._dy
- bow._dz:
+ _dz:
parameter: bow._dz
- bow._q_a:
+ _q_a:
parameter: bow._q_a
- bow._q_i:
+ _q_i:
parameter: bow._q_i
- bow._q_j:
+ _q_j:
parameter: bow._q_j
- bow._q_k:
+ _q_k:
parameter: bow._q_k
- bow.point:
+ depth:
+ parameter: depth
+ subcomponent: boat
+ point:
parameter: bow.point
- stern._dx:
- parameter: stern._dx
- stern._dy:
- parameter: stern._dy
- stern._dz:
- parameter: stern._dz
- stern._q_a:
- parameter: stern._q_a
- stern._q_i:
- parameter: stern._q_i
- stern._q_j:
- parameter: stern._q_j
- stern._q_k:
- parameter: stern._q_k
- stern.point:
- parameter: stern.point
+ width:
+ parameter: width
+ subcomponent: boat
portsplit:
classname: SplitEdge
kwargs: {}
@@ -479,3 +495,30 @@ subcomponents:
toplength:
function: (x[0],)
parameter: *id001
+ stern:
+ 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
+ point:
+ function: '0'
+ parameter: width
+ width:
+ parameter: width
+ subcomponent: boat
diff --git a/rocolib/library/DCMotorMount.yaml b/rocolib/library/DCMotorMount.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bb8982d0e17690089e8d42f1951446b5255a0fdb
--- /dev/null
+++ b/rocolib/library/DCMotorMount.yaml
@@ -0,0 +1,99 @@
+connections:
+ connection0:
+ - - dcMount
+ - face0
+ - - cutout1
+ - decoration
+ - mode: hole
+ offset:
+ function: (-10, 0)
+ parameter: motorWidth
+ connection1:
+ - - dcMount
+ - face2
+ - - cutout2
+ - decoration
+ - mode: hole
+ offset:
+ function: (10, 0)
+ parameter: motorWidth
+ connection2:
+ - - dcMount
+ - topedge1
+ - - leftArm
+ - r
+ - {}
+ connection3:
+ - - dcMount
+ - botedge1
+ - - rightArm
+ - r
+ - {}
+interfaces:
+ leftArmInterface:
+ interface: l
+ subcomponent: leftArm
+ rightArmInterface:
+ interface: l
+ subcomponent: rightArm
+parameters:
+ motorHeight:
+ defaultValue: 8
+ spec:
+ parameterType: length
+ motorWidth:
+ defaultValue: 8
+ spec:
+ parameterType: length
+ mountWidth:
+ defaultValue: 40
+ spec:
+ parameterType: length
+ supportLength:
+ defaultValue: 60
+ spec:
+ parameterType: length
+source: ../builders/DCMotorMountBuilder.py
+subcomponents:
+ cutout1:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx:
+ parameter: motorWidth
+ dy:
+ parameter: motorHeight
+ cutout2:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx:
+ parameter: motorWidth
+ dy:
+ parameter: motorHeight
+ dcMount:
+ classname: SimpleRectBeam
+ kwargs: {}
+ parameters:
+ depth: 10
+ length:
+ parameter: mountWidth
+ width: 30
+ leftArm:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ parameter: mountWidth
+ w:
+ parameter: depth
+ subcomponent: dcMount
+ rightArm:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ parameter: mountWidth
+ w:
+ parameter: depth
+ subcomponent: dcMount
diff --git a/rocolib/library/ESP32StackBoat.yaml b/rocolib/library/ESP32StackBoat.yaml
index 5005c167fb3332768ec02ed4ddbb8ee2a9f28cd5..7349178251dfaf0c362ca816b6d1e7e16395b40f 100644
--- a/rocolib/library/ESP32StackBoat.yaml
+++ b/rocolib/library/ESP32StackBoat.yaml
@@ -1,84 +1,158 @@
-connections:
- connection0:
- - - stack
- - topedge0
- - - split0
- - topedge0
- - {}
- connection1:
- - - stack
- - botedge0
- - - split1
- - topedge0
- - {}
- connection10:
- - - support2
- - r
- - - splitside1
- - botedge5
- - tabWidth: 5
- connection11:
- - - support3
- - r
- - - splitside1
- - botedge6
- - tabWidth: 5
- connection2:
- - - split0
- - botedge0
- - - support0
- - l
- - angle: 90
- connection3:
- - - split0
- - botedge1
- - - support1
- - l
- - angle: 90
- connection4:
- - - split1
- - botedge0
- - - support2
- - l
- - angle: 90
- connection5:
- - - split1
- - botedge1
- - - 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
+connections: {}
interfaces: {}
parameters:
- brains:
- defaultValue: esp32stack
+ boat.boat._dx:
+ defaultValue: 0
spec:
- valueType: str
+ 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: 80
+ 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)
depth:
- defaultValue: 40
+ defaultValue: 70
spec:
minValue: 0
units: mm
@@ -89,107 +163,105 @@ parameters:
minValue: 0
units: mm
valueType: (float, int)
+ stack.brains:
+ defaultValue: esp32stack
+ spec:
+ valueType: str
+ stack.depth:
+ defaultValue: 70
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ stack.dy1:
+ defaultValue: 18
+ spec:
+ parameterType: length
+ stack.length:
+ defaultValue: 61
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ stack.width:
+ defaultValue: 70
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
width:
- defaultValue: 50
+ defaultValue: 70
spec:
minValue: 0
units: mm
valueType: (float, int)
-source: ..\builders\ESP32StackBoatBuilder.py
+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: {}
- parameters:
- botlength:
- function: (getDim(x, "width")/2.,getDim(x, "width")/2.)
- parameter: brains
- toplength:
- function: (getDim(x, "width"),)
- parameter: brains
- split1:
- classname: SplitEdge
+ classname: BoatBaseFlat
kwargs: {}
parameters:
- botlength:
- function: (getDim(x, "width")/2.,getDim(x, "width")/2.)
- parameter: brains
- 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
+ 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
stack:
- classname: SubESP32Stack
- kwargs: {}
- parameters: {}
- support0:
- classname: Rectangle
- kwargs: {}
- parameters:
- l:
- parameter: depth
- w:
- function: getDim(x, 'width')/2.
- parameter: brains
- support1:
- classname: Rectangle
- kwargs: {}
- parameters:
- l:
- parameter: depth
- w:
- function: getDim(x, 'width')/2.
- parameter: brains
- support2:
- classname: Rectangle
- kwargs: {}
- parameters:
- l:
- parameter: depth
- w:
- function: getDim(x, 'width')/2.
- parameter: brains
- support3:
- classname: Rectangle
+ classname: Boat_StackMount
kwargs: {}
parameters:
- l:
- parameter: depth
- w:
- function: getDim(x, 'width')/2.
- parameter: brains
+ brains:
+ parameter: stack.brains
+ depth:
+ parameter: stack.depth
+ dy1:
+ parameter: stack.dy1
+ length:
+ parameter: stack.length
+ width:
+ parameter: stack.width
diff --git a/rocolib/library/PaddleboatWithCamera.yaml b/rocolib/library/PaddleboatWithCamera.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..929a8cfa6a4b6a2051cc743cc3dc10d5fe43c81a
--- /dev/null
+++ b/rocolib/library/PaddleboatWithCamera.yaml
@@ -0,0 +1,299 @@
+connections:
+ connection0:
+ - - boat
+ - staredge
+ - - split0
+ - topedge0
+ - {}
+ connection1:
+ - - boat
+ - portedge
+ - - split1
+ - topedge0
+ - {}
+ connection2:
+ - - mount0
+ - botedge3
+ - - split0
+ - botedge2
+ - angle: -180
+ connection3:
+ - - mount1
+ - topedge3
+ - - split1
+ - botedge1
+ - angle: -180
+ connection4:
+ - - split0
+ - botedge1
+ - - flopSupport
+ - r
+ - angle: 90
+ connection5:
+ - - split1
+ - botedge2
+ - - flopSupport
+ - l
+ - angle: 90
+ tabWidth: 6
+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: 80
+ 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
+ flopSupport:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ parameter: boat.width
+ w:
+ function: '15'
+ parameter: boat.width
+ mount0:
+ classname: SideServoMount
+ kwargs: {}
+ parameters:
+ servo:
+ parameter: driveservo
+ mount1:
+ classname: SideServoMount
+ kwargs: {}
+ parameters:
+ servo:
+ parameter: driveservo
+ split0:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: (x[0] - 74 - 15 - getDim(x[1], "motorlength"), 15, getDim(x[1],
+ "motorlength"), 74)
+ parameter: &id001
+ - boat.length
+ - driveservo
+ toplength:
+ function: (x,)
+ parameter: boat.length
+ split1:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: (74, getDim(x[1], "motorlength"), 15, x[0] - 74 - 15 - getDim(x[1],
+ "motorlength"))
+ parameter: *id001
+ toplength:
+ function: (x,)
+ parameter: boat.length
+ stack:
+ classname: SubESP32Stack
+ kwargs: {}
+ parameters: {}
diff --git a/rocolib/library/PaddleboatWtihCamera.yaml b/rocolib/library/PaddleboatWtihCamera.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b21b4aa93f4d5f9c2cedb8b0676e7dd75be0593f
--- /dev/null
+++ b/rocolib/library/PaddleboatWtihCamera.yaml
@@ -0,0 +1,98 @@
+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
diff --git a/rocolib/library/ServoMount.yaml b/rocolib/library/ServoMount.yaml
index 5f83036876659a169095ab6d50412e42a4ea9fbf..20949bf553c9f0a4c3221600098893ef7335a804 100644
--- a/rocolib/library/ServoMount.yaml
+++ b/rocolib/library/ServoMount.yaml
@@ -108,12 +108,6 @@ parameters:
defaultValue: false
spec:
valueType: bool
- length:
- defaultValue: 100
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
offset:
defaultValue: null
spec:
@@ -132,7 +126,13 @@ parameters:
minValue: 0
units: mm
valueType: (float, int)
-source: ..\builders\ServoMountBuilder.py
+ width:
+ defaultValue: 20
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+source: ../builders/SideServoMountBuilder.py
subcomponents:
beam:
classname: SimpleRectBeam
@@ -143,8 +143,6 @@ subcomponents:
depth:
function: getDim(x, "motorheight")
parameter: servo
- length:
- parameter: length
width:
function: getDim(x, "motorwidth")
parameter: servo
@@ -153,8 +151,8 @@ subcomponents:
kwargs: {}
parameters:
dx:
- function: getDim(x, "motorwidth") * 0.99
+ function: getDim(x, "motorlength") * 0.99
parameter: servo
dy:
- function: getDim(x, "motorlength")
+ function: getDim(x, "motorwidth")
parameter: servo
diff --git a/rocolib/library/SideServoMount.yaml b/rocolib/library/SideServoMount.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b5abed8490df2574b13f88dff97a92cfccc56c01
--- /dev/null
+++ b/rocolib/library/SideServoMount.yaml
@@ -0,0 +1,179 @@
+connections:
+ connection0:
+ - - beam
+ - face0
+ - - servoArm0
+ - decoration
+ - mode: hole
+ offset:
+ function: (7, 0)
+ parameter: dxServoArm
+ connection1:
+ - &id001
+ - beam
+ - face2
+ - - servoArm1
+ - decoration
+ - mode: hole
+ offset:
+ function: (-7, 0)
+ parameter: dxServoArm
+ connection2:
+ - - beam
+ - face1
+ - - mount
+ - decoration
+ - mode: hole
+ connection3:
+ - *id001
+ - - wires
+ - decoration
+ - mode: hole
+ offset:
+ function: (5, 0)
+ parameter: wiresDx
+interfaces:
+ botedge0:
+ interface: botedge0
+ subcomponent: beam
+ botedge1:
+ interface: botedge1
+ subcomponent: beam
+ botedge2:
+ interface: botedge2
+ subcomponent: beam
+ botedge3:
+ interface: botedge3
+ subcomponent: beam
+ face0:
+ interface: face0
+ subcomponent: beam
+ face1:
+ interface: face1
+ subcomponent: beam
+ face2:
+ interface: face2
+ subcomponent: beam
+ face3:
+ interface: face3
+ subcomponent: beam
+ mount.decoration:
+ interface: decoration
+ subcomponent: mount
+ slotedge:
+ interface: slotedge
+ subcomponent: beam
+ tabedge:
+ interface: tabedge
+ subcomponent: beam
+ topedge0:
+ interface: topedge0
+ subcomponent: beam
+ topedge1:
+ interface: topedge1
+ subcomponent: beam
+ topedge2:
+ interface: topedge2
+ subcomponent: beam
+ topedge3:
+ interface: topedge3
+ subcomponent: beam
+parameters:
+ depth:
+ defaultValue: 24
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ dxServo:
+ defaultValue: 23
+ spec:
+ parameterType: length
+ dxServoArm:
+ defaultValue: 4
+ spec:
+ parameterType: length
+ dyServo:
+ defaultValue: 12
+ spec:
+ parameterType: length
+ dyServoArm:
+ defaultValue: 12
+ spec:
+ parameterType: length
+ length:
+ defaultValue: 34
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ offset:
+ defaultValue: null
+ spec:
+ optional: true
+ overrides:
+ - flip
+ - center
+ - shift
+ servo:
+ defaultValue: fs90r
+ spec:
+ valueType: str
+ width:
+ defaultValue: 20
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ wiresDx:
+ defaultValue: 4
+ spec:
+ parameterType: length
+ wiresDy:
+ defaultValue: 9
+ spec:
+ parameterType: length
+source: ../builders/SideServoMountBuilder.py
+subcomponents:
+ beam:
+ classname: SimpleRectBeam
+ kwargs: {}
+ parameters:
+ depth:
+ parameter: depth
+ length:
+ parameter: length
+ width:
+ parameter: width
+ mount:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx:
+ parameter: dxServo
+ dy:
+ parameter: dyServo
+ servoArm0:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx:
+ parameter: dxServoArm
+ dy:
+ parameter: dyServoArm
+ servoArm1:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx:
+ parameter: dxServoArm
+ dy:
+ parameter: dyServoArm
+ wires:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx:
+ parameter: wiresDx
+ dy:
+ parameter: wiresDy
diff --git a/rocolib/library/SubESP32Stack.yaml b/rocolib/library/SubESP32Stack.yaml
index a00adfdd0758a6e61c5555ad88060fff63149c3d..660661ad1579872983f5fbab1422a121e067a322 100644
--- a/rocolib/library/SubESP32Stack.yaml
+++ b/rocolib/library/SubESP32Stack.yaml
@@ -92,12 +92,12 @@ parameters:
spec:
parameterType: length
length:
- defaultValue: 60
+ defaultValue: 61
spec:
minValue: 0
units: mm
valueType: (float, int)
-source: ..\builders\SubESP32StackBuilder.py
+source: ../builders/SubESP32StackBuilder.py
subcomponents:
header:
classname: Header
@@ -120,7 +120,7 @@ subcomponents:
kwargs: {}
parameters:
depth:
- function: getDim(x, 'height')
+ function: '60'
parameter: brains
length:
parameter: length
diff --git a/rocolib/output/.DS_Store b/rocolib/output/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..afb2ea8ea1e1b737418d5094dd32f8f47cb4e51c
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diff --git a/rocolib/output/BoatBase/graph-anim.svg b/rocolib/output/BoatBase/graph-anim.svg
new file mode 100644
index 0000000000000000000000000000000000000000..cf27eef3f1fc46f6372ed4e51681a9c497635246
--- /dev/null
+++ b/rocolib/output/BoatBase/graph-anim.svg
@@ -0,0 +1,80 @@
+<?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="140.000000mm" version="1.1" viewBox="0.000000 0.000000 103.333333 140.000000" width="103.333333mm">
+ <defs/>
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+ <line opacity="0.5" stroke="#0000ff" x1="26.666666666666696" x2="26.666666666666696" y1="20.000000000000004" y2="120.00000000000001"/>
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diff --git a/rocolib/output/BoatBase/graph-autofold-default.dxf b/rocolib/output/BoatBase/graph-autofold-default.dxf
new file mode 100644
index 0000000000000000000000000000000000000000..c73c7385e4edda75e853e69db6a2725393bb8d7b
--- /dev/null
+++ b/rocolib/output/BoatBase/graph-autofold-default.dxf
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+ 70
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diff --git a/rocolib/output/BoatBase/graph-lasercutter.svg b/rocolib/output/BoatBase/graph-lasercutter.svg
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diff --git a/rocolib/output/BoatBaseFlat/graph-lasercutter.svg b/rocolib/output/BoatBaseFlat/graph-lasercutter.svg
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