Take angle from servo component

seacreatures/builders/PoweredFlipper.py

@@ -4,21 +4,19 @@ from rocolib.api.Function import Function
 
 c = newComponent("PoweredFlipper")
 
-c.addParameter("angle", 180, paramType="angle")
-
 c.addSubcomponent("flipper","Flipper", inherit=True, prefix=None)
 c.delParameter("handlelength")
 c.delParameter("pitch")
 c.delParameter("yaw")
 
 c.addSubcomponent("panel","Rectangle")
-c.addSubcomponent("drive","MountedServo", inherit="servo", prefix=None)
+c.addSubcomponent("drive","MountedServo", inherit=("servo", "angle"), prefix=None)
 c.addSubcomponent("link","Rectangle")
 
 h = lambda servo : f"({servo}.get('motorheight') + {servo}.get('hornheight') + {servo}.get('horndepth'))"
 r = lambda servo : f"({servo}.get('hornlength'))"
-yaw = lambda servo, angle : f"np.rad2deg(np.arctan2({r(servo)} * np.cos(np.deg2rad({angle})), {h(servo)}))"
-pitch = lambda servo, angle : f"np.rad2deg(np.arctan2({r(servo)} * np.sin(np.deg2rad({angle})), {h(servo)}))"
+yaw = lambda servo, angle : f"-np.rad2deg(np.arctan2({r(servo)} * np.cos(np.deg2rad({angle})), {h(servo)}))"
+pitch = lambda servo, angle : f"-np.rad2deg(np.arctan2({r(servo)} * np.sin(np.deg2rad({angle})), {h(servo)}))"
 gap = lambda servo : f"({servo}.get('motorheight') * {r(servo)} / {h(servo)})"
 
 handlelength = lambda servo : f"(({h(servo)}**2 + {r(servo)}**2)**0.5)"
@@ -36,7 +34,7 @@ c.addConstraint(("panel", "w"), "servo", "x.get('motorwidth')")
 c.addConstraint(("drive", "length"), "servo", servolength('x'))
 c.addConstConstraint(("drive", "offset"), (0,0))
 c.addConstConstraint(("drive", "hornmount"), True)
-c.addConstConstraint(("drive", "centermount"), True)
+c.addConstConstraint(("drive", "centermount"), False)
 
 c.addConstraint(("link", "l"), "servo", f"2*x.get('shoulderlength') + x.get('hornoffset') + {gap('x')} + 5")
 c.addConstraint(("link", "w"), "servo", "x.get('motorwidth')")

seacreatures/library/PoweredFlipper.yaml

@@ -17,7 +17,7 @@ connections:
   - - link
     - l
   - angle:
-      function: -90-np.rad2deg(np.arctan2((x[0].get('hornlength')) * np.cos(np.deg2rad(x[1])),
+      function: -90--np.rad2deg(np.arctan2((x[0].get('hornlength')) * np.cos(np.deg2rad(x[1])),
         (x[0].get('motorheight') + x[0].get('hornheight') + x[0].get('horndepth'))))
       parameter: &id001
       - servo
@@ -34,8 +34,8 @@ parameters:
   angle:
     defaultValue: 180
     spec:
-      maxValue: 360
-      minValue: 0
+      maxValue: null
+      minValue: null
       units: degrees
       valueType: float
   height:
@@ -108,7 +108,9 @@ subcomponents:
     classname: MountedServo
     kwargs: {}
     parameters:
-      centermount: true
+      angle:
+        parameter: angle
+      centermount: false
       hornmount: true
       length:
         function: (x.get('motorlength') + 4*x.get('shoulderlength'))
@@ -138,13 +140,13 @@ subcomponents:
         - servo
         - thickness
       pitch:
-        function: np.rad2deg(np.arctan2((x[0].get('hornlength')) * np.sin(np.deg2rad(x[1])),
+        function: -np.rad2deg(np.arctan2((x[0].get('hornlength')) * np.sin(np.deg2rad(x[1])),
           (x[0].get('motorheight') + x[0].get('hornheight') + x[0].get('horndepth'))))
         parameter: *id001
       thickness:
         parameter: thickness
       yaw:
-        function: np.rad2deg(np.arctan2((x[0].get('hornlength')) * np.cos(np.deg2rad(x[1])),
+        function: -np.rad2deg(np.arctan2((x[0].get('hornlength')) * np.cos(np.deg2rad(x[1])),
           (x[0].get('motorheight') + x[0].get('hornheight') + x[0].get('horndepth'))))
         parameter: *id001
   link: