From d040cf3c385f8fea90aa28c23bc11fbb97149ddc Mon Sep 17 00:00:00 2001
From: mehtank <mehtank@ucla.edu>
Date: Fri, 9 Sep 2022 06:40:15 +0000
Subject: [PATCH] Servofix
---
rocolib/builders/MountedServoBuilder.py | 2 +-
rocolib/builders/WheelBuilder.py | 2 +-
rocolib/library/MountedServo.yaml | 2 +-
rocolib/library/ServoMotor.py | 12 ++++++++----
rocolib/library/Wheel.yaml | 2 +-
rocolib/utils/dimensions.py | 11 +++++++++++
6 files changed, 23 insertions(+), 8 deletions(-)
diff --git a/rocolib/builders/MountedServoBuilder.py b/rocolib/builders/MountedServoBuilder.py
index e1e8fda..305bfa7 100644
--- a/rocolib/builders/MountedServoBuilder.py
+++ b/rocolib/builders/MountedServoBuilder.py
@@ -9,6 +9,6 @@ c.addSubcomponent("servo", "ServoMotor", inherit=True, prefix=None)
c.inheritAllInterfaces("mount", prefix=None)
c.inheritAllInterfaces("servo", prefix=None)
c.addConnection(("mount", "mount.decoration"),
- ("servo", "horn"))
+ ("servo", "mount"))
c.toLibrary("MountedServo")
diff --git a/rocolib/builders/WheelBuilder.py b/rocolib/builders/WheelBuilder.py
index 3dd5384..9ee698f 100644
--- a/rocolib/builders/WheelBuilder.py
+++ b/rocolib/builders/WheelBuilder.py
@@ -8,7 +8,7 @@ c.addSubcomponent("tire", "Tire", inherit="radius tire_thickness".split(), prefi
c.inheritAllInterfaces("drive", prefix=None)
-c.addConnection(("drive", "mount"),
+c.addConnection(("drive", "horn"),
("tire", "face"))
c.toLibrary("Wheel")
diff --git a/rocolib/library/MountedServo.yaml b/rocolib/library/MountedServo.yaml
index 3a41255..aaaa270 100644
--- a/rocolib/library/MountedServo.yaml
+++ b/rocolib/library/MountedServo.yaml
@@ -3,7 +3,7 @@ connections:
- - mount
- mount.decoration
- - servo
- - horn
+ - mount
- {}
interfaces:
botedge0:
diff --git a/rocolib/library/ServoMotor.py b/rocolib/library/ServoMotor.py
index 5881e47..954d2a9 100644
--- a/rocolib/library/ServoMotor.py
+++ b/rocolib/library/ServoMotor.py
@@ -1,6 +1,7 @@
from rocolib.api.components import FoldedComponent
from rocolib.api.composables.graph.Face import Rectangle as Shape
from rocolib.api.ports import AnchorPort
+from rocolib.utils.utils import decorateGraph
from rocolib.utils.dimensions import getDim
from rocolib.utils.transforms import Translate, RotateZ
from rocolib.utils.numsym import dot
@@ -10,16 +11,19 @@ class ServoMotor(FoldedComponent):
def define(self):
self.addParameter("angle", 0, paramType="angle", minValue=None, maxValue=None)
self.addParameter("servo", "fs90r", paramType="dimension")
- self.addInterface("horn", AnchorPort(self, self.getGraph(), "h", Translate([0,0,0])))
- self.addFaceInterface("mount", "h")
+ self.addInterface("mount", AnchorPort(self, self.getGraph(), "horn", Translate([0,0,0])))
+ self.addFaceInterface("horn", "horn")
def assemble(self):
s = self.getParameter("servo")
a = self.getParameter("angle")
dz = getDim(s, "hornheight")
+ dy = getDim(s, "motorlength") / 2 - getDim(s, "hornoffset")
- self.addFace(Shape("h", 0, 0))
- self.setInterface("horn", AnchorPort(self, self.getGraph(), "h", dot(RotateZ(a), Translate([0,0,dz]))))
+ f = Shape("horn", 0, 0)
+ decorateGraph(f, Shape("hole", 1, 1))
+ self.addFace(f)
+ self.setInterface("mount", AnchorPort(self, self.getGraph(), "horn", dot(RotateZ(a), Translate([0,-dy,dz]))))
if __name__ == "__main__":
ServoMotor.test()
diff --git a/rocolib/library/Wheel.yaml b/rocolib/library/Wheel.yaml
index ed257d9..7f2f802 100644
--- a/rocolib/library/Wheel.yaml
+++ b/rocolib/library/Wheel.yaml
@@ -1,7 +1,7 @@
connections:
connection0:
- - drive
- - mount
+ - horn
- - tire
- face
- {}
diff --git a/rocolib/utils/dimensions.py b/rocolib/utils/dimensions.py
index f54306f..4d87f57 100644
--- a/rocolib/utils/dimensions.py
+++ b/rocolib/utils/dimensions.py
@@ -86,6 +86,17 @@ Should horn be a different object?
'''
+dims["ds2g"] = { "type" : "servo",
+ "motorlength" : 17,
+ "motorwidth" : 8.5,
+ "motorheight" : 11,
+ "shoulderlength": 3.5,
+ "hornlength" : 11,
+ "hornheight" : 9,
+ "hornoffset" : 4,
+ "horndepth" : 1,
+}
+
dims["s4303r"] = { "type" : "servo",
"motorlength" : 31,
"motorwidth" : 17,
--
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