Bobble cleanup

bobble/builders/BobbleBuilder.py

 from rocolib.api.components.Component import newComponent
+from rocolib.api.Function import Function
 from rocolib.library import save
 
 c = newComponent("Bobble")
 
+c.addParameter("headheight", 50, paramType="length")
+c.addParameter("bodyheight", 75, paramType="length")
+c.addParameter("bodywidth", 40, paramType="length")
+
 c.addSubcomponent("drive", "DualMountedServo", inherit=True, prefix=None)
-c.addSubcomponent("head", "Box", inherit="length")
-c.addSubcomponent("body", "Box", inherit="length")
-c.addSubcomponent("loop", "bobble:SimpleUChannel")
+c.addSubcomponent("head", "Box")
+c.addSubcomponent("body", "Box")
+c.addSubcomponent("loop", "SimpleUChannel")
 
 c.delParameter("length")
 
@@ -26,19 +31,22 @@ c.addConstraint(("drive", "length"), "servo", l)
 
 c.addConstraint(("head", "w"), "servo", d1)
 c.addConstraint(("head", "l"), "servo", d1)
+c.addConstraint(("head", "h"), "headheight")
 
-c.addConstraint(("body", "w"), "servo", d2)
+c.addConstraint(("body", "w"), "bodywidth")
 c.addConstraint(("body", "l"), "servo", d2)
+c.addConstraint(("body", "h"), "bodyheight")
 
-c.join(("body", "l.b"), ("loop", "ledge"))
-c.join(("body", "r.b"), ("loop", "redge"), tabWidth=8)
-
+c.addConstraint(("loop", "length"), "bodywidth")
 c.addConstraint(("loop", "width"), "servo", d2)
 c.addConstraint(("loop", "depth"), "servo", l)
 
-c.inheritAllInterfaces("drive", prefix=None)
+c.addConnection(("body", "l.b"), ("loop", "ledge"))
+c.addConnection(("body", "r.b"), ("loop", "redge"), tabWidth=15)
+
+c.addParameter("offset", (0,15), valueType="list")
 c.addConnection(("drive", "motor1.horn"),
-                ("head", "f.face"), copyDecorations=True)
+                ("head", "f.face"), offset=Function("offset"), copyDecorations=True)
 c.addConnection(("drive", "motor2.horn"),
                 ("loop", "lface"), rotate=90, copyDecorations=True)
 

bobble/library/Bobble.yaml

+connections:
+  connection0:
+  - - body
+    - l.b
+  - - loop
+    - ledge
+  - {}
+  connection1:
+  - - body
+    - r.b
+  - - loop
+    - redge
+  - tabWidth: 15
+  connection2:
+  - - drive
+    - motor1.horn
+  - - head
+    - f.face
+  - copyDecorations: true
+    offset:
+      parameter: offset
+  connection3:
+  - - drive
+    - motor2.horn
+  - - loop
+    - lface
+  - copyDecorations: true
+    rotate: 90
+interfaces: {}
+parameters:
+  _dx:
+    defaultValue: 0
+    spec:
+      hidden: true
+      minValue: null
+      units: mm
+      valueType: float
+  _dy:
+    defaultValue: 0
+    spec:
+      hidden: true
+      minValue: null
+      units: mm
+      valueType: float
+  _dz:
+    defaultValue: 0
+    spec:
+      hidden: true
+      minValue: null
+      units: mm
+      valueType: float
+  _q_a:
+    defaultValue: 1
+    spec:
+      hidden: true
+      maxValue: 1
+      minValue: -1
+      valueType: float
+  _q_i:
+    defaultValue: 0
+    spec:
+      hidden: true
+      maxValue: 1
+      minValue: -1
+      valueType: float
+  _q_j:
+    defaultValue: 0
+    spec:
+      hidden: true
+      maxValue: 1
+      minValue: -1
+      valueType: float
+  _q_k:
+    defaultValue: 0
+    spec:
+      hidden: true
+      maxValue: 1
+      minValue: -1
+      valueType: float
+  addTabs:
+    defaultValue: true
+    spec:
+      hidden: true
+      valueType: bool
+  bodyheight:
+    defaultValue: 75
+    spec:
+      minValue: 0
+      units: mm
+      valueType: float
+  bodywidth:
+    defaultValue: 40
+    spec:
+      minValue: 0
+      units: mm
+      valueType: float
+  centermount:
+    defaultValue: true
+    spec:
+      valueType: bool
+  flip:
+    defaultValue: false
+    spec:
+      valueType: bool
+  headheight:
+    defaultValue: 50
+    spec:
+      minValue: 0
+      units: mm
+      valueType: float
+  hornmount:
+    defaultValue: true
+    spec:
+      valueType: bool
+  hornslots:
+    defaultValue: true
+    spec:
+      valueType: bool
+  offset:
+    defaultValue:
+    - 0
+    - 15
+    spec:
+      valueType: list
+  pitch:
+    defaultValue: 15
+    spec:
+      maxValue: 360
+      minValue: 0
+      units: degrees
+      valueType: float
+  roll:
+    defaultValue: 10
+    spec:
+      maxValue: 360
+      minValue: 0
+      units: degrees
+      valueType: float
+  servo:
+    defaultValue: fs90r
+    spec:
+      values:
+        ds2g:
+          horndepth: 2
+          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
+source: ../../../plugins/bobble/bobble/builders/BobbleBuilder.py
+subcomponents:
+  body:
+    classname: Box
+    kwargs: {}
+    parameters:
+      h:
+        parameter: bodyheight
+      l:
+        function: 2 * (x.get("horndepth") + x.get("hornheight")) + x.get("motorwidth")
+        parameter: servo
+      w:
+        parameter: bodywidth
+  drive:
+    classname: DualMountedServo
+    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
+      addTabs:
+        parameter: addTabs
+      centermount:
+        parameter: centermount
+      flip:
+        parameter: flip
+      hornmount:
+        parameter: hornmount
+      hornslots:
+        parameter: hornslots
+      length:
+        function: 4 * x.get("shoulderlength") + x.get("motorlength")
+        parameter: servo
+      pitch:
+        parameter: pitch
+      roll:
+        parameter: roll
+      servo:
+        parameter: servo
+  head:
+    classname: Box
+    kwargs: {}
+    parameters:
+      h:
+        parameter: headheight
+      l:
+        function: 2 * (x.get("horndepth") + x.get("hornheight") + x.get("motorheight"))
+          + x.get("motorwidth")
+        parameter: servo
+      w:
+        function: 2 * (x.get("horndepth") + x.get("hornheight") + x.get("motorheight"))
+          + x.get("motorwidth")
+        parameter: servo
+  loop:
+    classname: SimpleUChannel
+    kwargs: {}
+    parameters:
+      depth:
+        function: 4 * x.get("shoulderlength") + x.get("motorlength")
+        parameter: servo
+      length:
+        parameter: bodywidth
+      width:
+        function: 2 * (x.get("horndepth") + x.get("hornheight")) + x.get("motorwidth")
+        parameter: servo