Use new _phase var on ServoMount to not need custom Component

seacreatures/builders/PoweredFlipper.py

@@ -36,12 +36,13 @@ c.addConstConstraint(("drive", "offset"), (0,0))
 c.addConstConstraint(("drive", "hornmount"), True)
 c.addConstConstraint(("drive", "centermount"), False)
 c.addConstConstraint(("drive", "hornslots"), False)
+c.addConstConstraint(("drive", "_phase"), 3)
 
 c.addConstraint(("link", "l"), "servo", f"2*x.get('shoulderlength') + x.get('hornoffset') + {gap('x')} + 5")
 c.addConstraint(("link", "w"), "servo", "x.get('motorwidth')")
 
 c.addConnection(("flipper", "mountedge"), ("panel", "t"))
-c.addConnection(("panel", "l"), ("drive", "botedge3"))
+c.addConnection(("panel", "l"), ("drive", "botedge2"))
 c.addConnection(("flipper", "handleedge"), ("link", "l"), angle=Function(("servo", "angle"), "-90-" + yaw("x[0]", "x[1]")))
 c.addConnection(("drive", "horn"), ("link", "face"), transform=False, copyDecorations=True)
 

seacreatures/builders/ServoMountBuilder.py

-from rocolib.library import getComponent
-from rocolib.api.components.Component import newComponent
-from rocolib.library import save
-from rocolib.api.Function import Function
-
-c = newComponent("ServoMount")
-
-c.addParameter("servo", "fs90r", values=getComponent("ServoMotor").dims)
-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", [], valueType="list")
-
-c.addSubcomponent("beam", "SimpleRectBeam", inherit=("length", "addTabs"), prefix=None)
-c.addSubcomponent("mount", "Cutout")
-
-c.addConstraint(("mount", "dx"), "servo", 'x.get("motorwidth") * 0.99')
-c.addConstraint(("mount", "dy"), "servo", 'x.get("motorlength")')
-
-c.addConstraint(("beam", "depth"), "servo", 'x.get("motorwidth")')
-c.addConstraint(("beam", "width"), "servo", 'x.get("motorheight")')
-c.addConstraint(("beam", "length#minValue"), "servo", 'x.get("motorlength") + 2 * x.get("shoulderlength")')
-
-c.inheritAllInterfaces("beam", prefix=None)
-c.inheritAllInterfaces("mount")
-c.addConnection(("beam", "face1"),
-                ("mount", "decoration"),
-                mode="hole", offset=Function(params="offset"))
-
-save(c, "seacreatures")

seacreatures/library/PoweredFlipper.yaml

@@ -9,7 +9,7 @@ connections:
   - - panel
     - l
   - - drive
-    - botedge3
+    - botedge2
   - {}
   connection2:
   - - flipper
@@ -106,12 +106,13 @@ parameters:
       minValue: 0
       units: mm
       valueType: float
-source: ../../../plugins/seacreatures/seacreatures/builders/PoweredFlipper.py
+source: ../../../seacreatures/seacreatures/builders/PoweredFlipper.py
 subcomponents:
   drive:
     classname: MountedServo
     kwargs: {}
     parameters:
+      _phase: 3
       angle:
         parameter: angle
       centermount: false

seacreatures/library/ServoMount.yaml

-connections:
-  connection0:
-  - - beam
-    - face1
-  - - mount
-    - decoration
-  - mode: hole
-    offset:
-      parameter: offset
-interfaces:
-  bot:
-    interface: bot
-    subcomponent: beam
-  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
-  top:
-    interface: top
-    subcomponent: beam
-  topedge0:
-    interface: topedge0
-    subcomponent: beam
-  topedge1:
-    interface: topedge1
-    subcomponent: beam
-  topedge2:
-    interface: topedge2
-    subcomponent: beam
-  topedge3:
-    interface: topedge3
-    subcomponent: beam
-parameters:
-  addTabs:
-    defaultValue: true
-    spec:
-      valueType: bool
-  center:
-    defaultValue: true
-    spec:
-      valueType: bool
-  flip:
-    defaultValue: false
-    spec:
-      valueType: bool
-  length:
-    defaultValue: 100
-    spec:
-      minValue: 0
-      units: mm
-      valueType: float
-  offset:
-    defaultValue: []
-    spec:
-      valueType: list
-  servo:
-    defaultValue: fs90r
-    spec:
-      values:
-        ds2g:
-          horndepth: 1
-          hornheight: 9
-          hornlength: 10
-          hornoffset: 4
-          hornwidth: 3
-          motorheight: 11
-          motorlength: 17
-          motorwidth: 8.5
-          shoulderlength: 3.5
-        fs90r:
-          horndepth: 2
-          hornheight: 11
-          hornlength: 10
-          hornoffset: 8
-          hornwidth: 5
-          motorheight: 19
-          motorlength: 23
-          motorwidth: 13
-          shoulderlength: 5
-        s4303r:
-          horndepth: 2
-          hornheight: 14
-          hornlength: 38
-          hornoffset: 7
-          hornwidth: 3
-          motorheight: 29
-          motorlength: 31
-          motorwidth: 17
-          shoulderlength: 10
-        tgy1370a:
-          horndepth: 2
-          hornheight: 10
-          hornlength: 7
-          hornoffset: 4
-          hornwidth: 3
-          motorheight: 14
-          motorlength: 20
-          motorwidth: 9
-          shoulderlength: 4
-  shift:
-    defaultValue: 0
-    spec:
-      minValue: 0
-      units: mm
-      valueType: float
-source: ../../../plugins/seacreatures/seacreatures/builders/ServoMountBuilder.py
-subcomponents:
-  beam:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      addTabs:
-        parameter: addTabs
-      depth:
-        function: x.get("motorwidth")
-        parameter: servo
-      length:
-        parameter: length
-      length#minValue:
-        function: x.get("motorlength") + 2 * x.get("shoulderlength")
-        parameter: servo
-      width:
-        function: x.get("motorheight")
-        parameter: servo
-  mount:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        function: x.get("motorwidth") * 0.99
-        parameter: servo
-      dy:
-        function: x.get("motorlength")
-        parameter: servo