diff --git a/rocolib/builders/ESPSegBuilder.py b/rocolib/builders/ESPSegBuilder.py
index ee7f796d442c2b12fe8a04a3b4654952179268cf..1b002b4434a194170341ccd9dfeca4abab80344a 100644
--- a/rocolib/builders/ESPSegBuilder.py
+++ b/rocolib/builders/ESPSegBuilder.py
@@ -29,6 +29,7 @@ def depthfn(params = None, fnmod = None):
# Set microcontroller
c.addConstraint(("brain", "depth"), *depthfn())
c.addConstraint(("brain", "length"), "width")
+c.addConstraint(("brain", "width"), "brain", "x.get('width')")
for servo in ("right", "left"):
c.addConstraint((servo, "length"),
@@ -41,10 +42,10 @@ for servo in ("right", "left"):
c.addConstConstraint(("right","flip"), True)
# connections
-c.addConnection(("brain", "topedge0"),
+c.addConnection(("brain", "botedge0"),
("right", "topedge0"),
angle=-90)
-c.addConnection(("brain", "botedge0"),
+c.addConnection(("brain", "topedge0"),
("left", "botedge0"),
angle=-90)
diff --git a/rocolib/library/ESPSeg.yaml b/rocolib/library/ESPSeg.yaml
index 28215c3a9ff7f4d99b4fa496b30d506572f7d62f..3743f2b77ff87fe054f7561ae3dcb429b8786f26 100644
--- a/rocolib/library/ESPSeg.yaml
+++ b/rocolib/library/ESPSeg.yaml
@@ -1,13 +1,13 @@
connections:
connection0:
- - brain
- - topedge0
+ - botedge0
- - right
- topedge0
- angle: -90
connection1:
- - brain
- - botedge0
+ - topedge0
- - left
- botedge0
- angle: -90
@@ -145,7 +145,7 @@ parameters:
shoulderlength: 3.5
fs90r:
horndepth: 2
- hornheight: 16
+ hornheight: 11
hornlength: 10
hornoffset: 8
motorheight: 19
@@ -235,6 +235,9 @@ subcomponents:
- driveservo
length:
parameter: width
+ width:
+ function: x.get('width')
+ parameter: brain
left:
classname: Wheel
kwargs:
diff --git a/rocolib/library/MountedServo.yaml b/rocolib/library/MountedServo.yaml
index 59533eae6be6fd4f0ed49668b961fc6a7479407d..8754865a8ec54baa3e1e44b4b5ded91dfdd17cde 100644
--- a/rocolib/library/MountedServo.yaml
+++ b/rocolib/library/MountedServo.yaml
@@ -150,7 +150,7 @@ parameters:
shoulderlength: 3.5
fs90r:
horndepth: 2
- hornheight: 16
+ hornheight: 11
hornlength: 10
hornoffset: 8
motorheight: 19
diff --git a/rocolib/library/ServoMotor.py b/rocolib/library/ServoMotor.py
index 969c4a2b0c0cb6f525d841962ae43eba19d96c43..47fbbbbf9f177e2dbd4f36de96b70a4ae5e63b07 100644
--- a/rocolib/library/ServoMotor.py
+++ b/rocolib/library/ServoMotor.py
@@ -88,7 +88,7 @@ class ServoMotor(FoldedComponent):
motorheight = 19,
shoulderlength= 5,
hornlength = 10,
- hornheight = 16,
+ hornheight = 11,
hornoffset = 8,
horndepth = 2,
),
diff --git a/rocolib/library/ServoMount.yaml b/rocolib/library/ServoMount.yaml
index 45d9c9e63ebbef06b611ffa8755129071419b4df..c60f15883cd8960c3eb62fd3eb64c409ef962655 100644
--- a/rocolib/library/ServoMount.yaml
+++ b/rocolib/library/ServoMount.yaml
@@ -90,7 +90,7 @@ parameters:
shoulderlength: 3.5
fs90r:
horndepth: 2
- hornheight: 16
+ hornheight: 11
hornlength: 10
hornoffset: 8
motorheight: 19
diff --git a/rocolib/library/TwoDOF.py b/rocolib/library/TwoDOF.py
index 82bbe7277cf7789779028c4926c31edcf1eaaf80..b7edc10f6331e71c5a3b7c8c8048d3c3b9f2383a 100644
--- a/rocolib/library/TwoDOF.py
+++ b/rocolib/library/TwoDOF.py
@@ -1,33 +1,36 @@
-from rocolib.api.components import FoldedComponent
-from rocolib.api.composables.graph.Face import Rectangle, Face
-
-class TwoDOF(FoldedComponent):
- def define(self):
- self.addParameter("mountlength", 40, paramType="length")
- self.addParameter("handlelength", 15, paramType="length")
- self.addParameter("thickness", 10, paramType="length")
- self.addParameter("pitch", 135, paramType="angle")
- self.addParameter("yaw", 60, paramType="angle")
-
- self.addEdgeInterface("mountedge", "mount.e0", "width")
- self.addEdgeInterface("oaredge", "r2.e2", "h")
-
- def assemble(self):
- t = self.p.thickness
- w = self.p.mountlength
- h = self.p.handlelength
- p = self.p.pitch
- y = self.p.yaw
-
- b = Face("", ((w, 0), (w, t), (w/2,t), (0,t), (0,0)))
- b0 = Rectangle("", w, 0)
- r1 = Rectangle("", w/2, t)
- r2 = Rectangle("", h, t)
-
- self.addFace(b, "base")
- self.attachEdge("base.e2", r1, "e0", prefix="r1", angle=-180)
- self.attachEdge("r1.e3", r2, "e1", prefix="r2", angle=y)
- self.attachEdge("base.e0", b0, "e2", prefix="mount", angle=p)
-
-if __name__ == "__main__":
- TwoDOF.test()
+from rocolib.api.components import FoldedComponent
+from rocolib.api.composables.graph.Face import Rectangle, Face
+
+class TwoDOF(FoldedComponent):
+ def define(self):
+ self.addParameter("mountlength", 40, paramType="length")
+ self.addParameter("handlelength", 15, paramType="length")
+ self.addParameter("hingelength", 10, paramType="length")
+ self.addParameter("thickness", 10, paramType="length")
+ self.addParameter("pitch", 135, paramType="angle")
+ self.addParameter("yaw", 60, paramType="angle")
+
+ self.addEdgeInterface("mountedge", "mount.e0", "mountlength")
+ self.addEdgeInterface("outedge", "r2.e2", "handlelength")
+ self.addEdgeInterface("handleedge", "r2.e3", "thickness")
+
+ def assemble(self):
+ t = self.p.thickness
+ w = self.p.mountlength
+ x = self.p.hingelength
+ h = self.p.handlelength
+ p = self.p.pitch
+ y = self.p.yaw
+
+ b = Face("", ((w, 0), (w, t), (w-x,t), (0,t), (0,0)))
+ b0 = Rectangle("", w, 0)
+ r1 = Rectangle("", x, t)
+ r2 = Rectangle("", h, t)
+
+ self.addFace(b, "base")
+ self.attachEdge("base.e2", r1, "e0", prefix="r1", angle=-180)
+ self.attachEdge("r1.e3", r2, "e1", prefix="r2", angle=y)
+ self.attachEdge("base.e0", b0, "e2", prefix="mount", angle=p)
+
+if __name__ == "__main__":
+ TwoDOF.test()
diff --git a/rocolib/library/Wheel.yaml b/rocolib/library/Wheel.yaml
index 6de1d93af4b845fe912b2cf84b60e44275325bc3..00d9c75833ca03fc4009d8018b5da9b2355d0161 100644
--- a/rocolib/library/Wheel.yaml
+++ b/rocolib/library/Wheel.yaml
@@ -156,7 +156,7 @@ parameters:
shoulderlength: 3.5
fs90r:
horndepth: 2
- hornheight: 16
+ hornheight: 11
hornlength: 10
hornoffset: 8
motorheight: 19