Updated cardbot

svggen/builders/CardBot2DOFBuilder.py

@@ -3,11 +3,15 @@ from svggen.api.Function import Function
 
 self = Component()
 
+self.addParameter("dphase", 1)
+
 self.addSubcomponent("c1","CardBot1DOF", inherit=True, prefix=None)
 self.addSubcomponent("c2","CardBot1DOF", inherit=True, prefix=None)
 
-self.addConstraint(("c2", "phase"), "phase", "(x + 0.25) % 1")
-self.addConnection(("c1", "l"), ("c2","t"),angle=Function(params="phase", fnstring="-45 + 45*np.cos(2*(x-0.25)*np.pi)"))
+self.addConstraint(("c2", "phase"), ("phase", "dphase"), "(x[0] + 0.25 * x[1]) % 1")
+self.addConnection(("c1", "l"), ("c2","t"),
+    angle=Function(params=("phase", "dphase"), 
+                   fnstring="-45 + 45*np.cos(2*(x[0]-0.25*x[1])*np.pi)"))
 
 self.inheritInterface("t",("c1","t"))
 self.inheritInterface("b",("c2","b"))

svggen/builders/CardBotBuilder.py

@@ -3,8 +3,8 @@ from svggen.api.Function import Function
 
 self = Component()
 
-self.addSubcomponent("l1","CardBotLeg", inherit=True, prefix=None)
-self.addSubcomponent("l2","CardBotLeg", inherit=True, prefix=None)
+self.addSubcomponent("l1","CardBotLeg", inherit="d l phase".split(), prefix=None)
+self.addSubcomponent("l2","CardBotLeg", inherit="d l phase".split(), prefix=None)
 self.addSubcomponent("ra","Rectangle")
 self.addSubcomponent("rb","Rectangle")
 self.addSubcomponent("rc","Rectangle")
@@ -12,6 +12,8 @@ self.addSubcomponent("rd","Rectangle")
 self.addSubcomponent("re","Rectangle")
 self.addSubcomponent("rf","Rectangle")
 
+self.addConstConstraint(("l1", "dphase"), 1)
+self.addConstConstraint(("l2", "dphase"), -1)
 self.addConstraint(("l2", "phase"), "phase", "(x + 0.5) % 1")
 
 self.addConstraint(("ra", "w"), "d")

svggen/builders/CardBotLegBuilder.py

@@ -4,8 +4,8 @@ self = Component()
 
 self.addParameter("l", 6.35 * 3)
 
-self.addSubcomponent("c1","CardBot2DOF", inherit="d phase".split(), prefix=None)
-self.addSubcomponent("c2","CardBot2DOF", inherit="d phase".split(), prefix=None)
+self.addSubcomponent("c1","CardBot2DOF", inherit=True, prefix=None)
+self.addSubcomponent("c2","CardBot2DOF", inherit=True, prefix=None)
 self.addSubcomponent("r1","Rectangle", inherit="l", prefix=None)
 self.addSubcomponent("rm","Rectangle", inherit="l", prefix=None)
 self.addSubcomponent("r2","Rectangle", inherit="l", prefix=None)

svggen/builders/makeCardBot.sh

+python CardBot1DOFBuilder.py
+python CardBot2DOFBuilder.py
+python CardBotLegBuilder.py
+python CardBotBuilder.py

svggen/library/CardBot.yaml

@@ -47,6 +47,7 @@ subcomponents:
     kwargs: {}
     parameters:
       d: {parameter: d}
+      dphase: 1
       l: {parameter: l}
       phase: {parameter: phase}
   l2:
@@ -54,6 +55,7 @@ subcomponents:
     kwargs: {}
     parameters:
       d: {parameter: d}
+      dphase: -1
       l: {parameter: l}
       phase: {function: (x + 0.5) % 1, parameter: phase}
   ra:

svggen/library/CardBot2DOF.yaml

@@ -2,7 +2,9 @@ connections:
   connection0:
   - [c1, l]
   - [c2, t]
-  - angle: {function: -45 + 45*np.cos(2*(x-0.25)*np.pi), parameter: phase}
+  - angle:
+      function: -45 + 45*np.cos(2*(x[0]-0.25*x[1])*np.pi)
+      parameter: [phase, dphase]
 interfaces:
   b: {interface: b, subcomponent: c2}
   l: {interface: l, subcomponent: c2}
@@ -10,8 +12,9 @@ interfaces:
   t: {interface: t, subcomponent: c1}
 metadata:
   d: {default: 6.35}
+  dphase: {default: 1}
   phase: {default: 0, max: 1, min: 0, paramtype: animation, step: 0.05}
-parameters: {d: 6.35, phase: 0}
+parameters: {d: 6.35, dphase: 1, phase: 0}
 subcomponents:
   c1:
     classname: CardBot1DOF
@@ -24,4 +27,6 @@ subcomponents:
     kwargs: {}
     parameters:
       d: {parameter: d}
-      phase: {function: (x + 0.25) % 1, parameter: phase}
+      phase:
+        function: (x[0] + 0.25 * x[1]) % 1
+        parameter: [phase, dphase]

svggen/library/CardBotLeg.yaml

@@ -28,21 +28,24 @@ interfaces:
   l2: {interface: t, subcomponent: c2}
 metadata:
   d: {default: 6.35}
+  dphase: {default: 1}
   l: {default: 19.049999999999997}
   phase: {default: 0, max: 1, min: 0, paramtype: animation, step: 0.05}
-parameters: {d: 6.35, l: 19.049999999999997, phase: 0}
+parameters: {d: 6.35, dphase: 1, l: 19.049999999999997, phase: 0}
 subcomponents:
   c1:
     classname: CardBot2DOF
     kwargs: {}
     parameters:
       d: {parameter: d}
+      dphase: {parameter: dphase}
       phase: {parameter: phase}
   c2:
     classname: CardBot2DOF
     kwargs: {}
     parameters:
       d: {parameter: d}
+      dphase: {parameter: dphase}
       phase: {parameter: phase}
   f1:
     classname: Rectangle