Fixed link length; added horn mount

seacreatures/builders/PoweredFlipper.py

@@ -4,16 +4,17 @@ from rocolib.api.Function import Function
 
 c = newComponent("PoweredFlipper")
 
-c.addParameter("angle", 0, paramType="angle")
+c.addParameter("angle", 180, paramType="angle")
 
 c.addSubcomponent("flipper","Flipper", inherit=True, prefix=None)
-c.addSubcomponent("panel","Rectangle")
-c.addSubcomponent("drive","MountedServo", inherit="servo", prefix=None)
-c.addSubcomponent("link","Rectangle")
 c.delParameter("handlelength")
 c.delParameter("pitch")
 c.delParameter("yaw")
 
+c.addSubcomponent("panel","Rectangle")
+c.addSubcomponent("drive","MountedServo", inherit="servo", 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)}))"
@@ -34,12 +35,15 @@ 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.addConstraint(("link", "l"), "servo", f"{servolength('x')}/2 + {r('x')} + {gap('x')} + 5")
+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(("flipper", "handleedge"), ("link", "l"), angle=Function(("servo", "angle"), "-90-" + yaw("x[0]", "x[1]")))
+c.addConnection(("drive", "horn"), ("link", "face"), transform=False, copyDecorations=True)
 
 save(c, "seacreatures")

seacreatures/library/PoweredFlipper.yaml

@@ -22,10 +22,17 @@ connections:
       parameter: &id001
       - servo
       - angle
+  connection3:
+  - - drive
+    - horn
+  - - link
+    - face
+  - copyDecorations: true
+    transform: false
 interfaces: {}
 parameters:
   angle:
-    defaultValue: 0
+    defaultValue: 180
     spec:
       maxValue: 360
       minValue: 0
@@ -101,6 +108,8 @@ subcomponents:
     classname: MountedServo
     kwargs: {}
     parameters:
+      centermount: true
+      hornmount: true
       length:
         function: (x.get('motorlength') + 4*x.get('shoulderlength'))
         parameter: servo
@@ -143,9 +152,9 @@ subcomponents:
     kwargs: {}
     parameters:
       l:
-        function: (x.get('motorlength') + 4*x.get('shoulderlength'))/2 + (x.get('hornlength'))
-          + (x.get('motorheight') * (x.get('hornlength')) / (x.get('motorheight')
-          + x.get('hornheight') + x.get('horndepth'))) + 5
+        function: 2*x.get('shoulderlength') + x.get('hornoffset') + (x.get('motorheight')
+          * (x.get('hornlength')) / (x.get('motorheight') + x.get('hornheight') +
+          x.get('horndepth'))) + 5
         parameter: servo
       w:
         function: x.get('motorwidth')