diff --git a/paperbot_ee_autoroute/.ipynb_checkpoints/Untitled-checkpoint.ipynb b/EEME_design/.ipynb_checkpoints/Untitled-checkpoint.ipynb
similarity index 100%
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diff --git a/paperbot_ee_autoroute/__pycache__/ee_dwg_processing.cpython-36.pyc b/EEME_design/__pycache__/ee_dwg_processing.cpython-36.pyc
similarity index 100%
rename from paperbot_ee_autoroute/__pycache__/ee_dwg_processing.cpython-36.pyc
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diff --git a/paperbot_ee_autoroute/__pycache__/paperbot_draw.cpython-36.pyc b/EEME_design/__pycache__/paperbot_draw.cpython-36.pyc
similarity index 100%
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diff --git a/paperbot_ee_autoroute/__pycache__/paperbot_dsn.cpython-36.pyc b/EEME_design/__pycache__/paperbot_dsn.cpython-36.pyc
similarity index 100%
rename from paperbot_ee_autoroute/__pycache__/paperbot_dsn.cpython-36.pyc
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diff --git a/paperbot_ee_autoroute/__pycache__/read_old_paperbot.cpython-36.pyc b/EEME_design/__pycache__/read_old_paperbot.cpython-36.pyc
similarity index 100%
rename from paperbot_ee_autoroute/__pycache__/read_old_paperbot.cpython-36.pyc
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diff --git a/paperbot_ee_autoroute/__pycache__/roco_dsn.cpython-36.pyc b/EEME_design/__pycache__/roco_dsn.cpython-36.pyc
similarity index 100%
rename from paperbot_ee_autoroute/__pycache__/roco_dsn.cpython-36.pyc
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diff --git a/paperbot_ee_autoroute/__pycache__/roco_ee_dwg_processing.cpython-36.pyc b/EEME_design/__pycache__/roco_ee_dwg_processing.cpython-36.pyc
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rename from paperbot_ee_autoroute/__pycache__/roco_ee_dwg_processing.cpython-36.pyc
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diff --git a/paperbot_ee_autoroute/__pycache__/roco_electrical.cpython-36.pyc b/EEME_design/__pycache__/roco_electrical.cpython-36.pyc
similarity index 100%
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diff --git a/paperbot_ee_autoroute/drawing.svg b/EEME_design/drawing.svg
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rename from paperbot_ee_autoroute/drawing.svg
rename to EEME_design/drawing.svg
diff --git a/paperbot_ee_autoroute/dwg_w_circuit.dxf b/EEME_design/dwg_w_circuit.dxf
similarity index 100%
rename from paperbot_ee_autoroute/dwg_w_circuit.dxf
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diff --git a/paperbot_ee_autoroute/dwg_w_layers.dxf b/EEME_design/dwg_w_layers.dxf
similarity index 100%
rename from paperbot_ee_autoroute/dwg_w_layers.dxf
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diff --git a/paperbot_ee_autoroute/ee_dwg_processing.py b/EEME_design/ee_dwg_processing.py
similarity index 100%
rename from paperbot_ee_autoroute/ee_dwg_processing.py
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diff --git a/paperbot_ee_autoroute/freeRouting.jar b/EEME_design/freeRouting.jar
similarity index 100%
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diff --git a/paperbot_ee_autoroute/paperbot_ee.ses b/EEME_design/paperbot_ee.ses
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diff --git a/paperbot_ee_autoroute/read_old_paperbot.py b/EEME_design/read_old_paperbot.py
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diff --git a/paperbot_ee_autoroute/roco_dsn.py b/EEME_design/roco_dsn.py
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diff --git a/paperbot_ee_autoroute/roco_electrical.py b/EEME_design/roco_electrical.py
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diff --git a/README.md b/README.md
index 13501d1e86bdfa1021cce3ecacb6f765f0b1e323..56366bca439505757dcdc1189fd5838011d142c6 100644
--- a/README.md
+++ b/README.md
@@ -1,989 +1,69 @@
-### Jingyan Ling
+# Automatic Electromechanical Design System for Foldable Robots
-### 09/04/2019
-- Paper Outlines
+- [Motivation](#motivation)
+- [Contribution (this repo)](#contribution)
+- [Method](#method)
+- [To implement my work](#implement-my-work)
+- [Demo Video](#demo)
-#### An Accessible way to rapidly build foldable robots from automatic electromechanical design
+*This repository shares the code and technical details of the research work only, for more information, please check our [paper]() submitted to ICRA2020*.
-#### I. Introduction (1)
-- 1. Robot functionality highly depends on electrical component it carries
-- 2. Personalized robot needs technical experience
-- 3. Work based on previous work of RoCo mechanical design
-- 4. Bullet points of contributions
-
-#### II. Related Work (1-2)
-- 1. Roco mechanical design for foldable robot
-- 2. Freerouting software for auto-router
-
-#### III. Design Strategies (2-5)
-- A. Design as a PCB
-- B. Mechanical drawing processing
-- C. Circuit pattern
-- D. Fabrication
-
-#### IV. Result (5-6)
-- Pipeline of the system
-- Show results through each step in the pipeline
-- State time and cost
-#### V. Conclusion (6)
-- A. Contributions
- - Accessible
- - Fast
-- B. Future Work
- - Stability
- - Durability
-
-#### *Contribution A (Design as a PCB)*
-`What`
-- An integrated method to do PCB design from simple user input
-
-`How`
-- building `dsnwritter` python library
- - module, footprint lib, wiring options...
+This research studies **human computer interaction** in terms of developing a **robot compiler** to create electromechanical design for foldable robots. The work presents an integrated design-to-fabrication method for foldable electromechanical devices that rethinks the merging of mechanical and electrical designs. The mechanical substrate of this device can carry electrical functionality; the electrical circuits are parts of the device body.
-`Solves issue`
-- 1. Experience of using PCB design software (KiCAD/EAGLE) is needed for typical PCB design; Causal user need time to learn software.
-- 2. Manually routing takes long time and requires technical experience
+## Motivation
+Printable or foldable robots are becoming a feasible approach for the goal of building robots rapidly with lower cost. While the threshold of the requirement of knowledge for the design and fabricate foldable robots is a barrier to enable the public to create personalized robots, a system doing electrical and mechanical design from a limited amount of user effort is required. In order to be beneficial to the general public, a long-term goal is to develop a compiler that allows people to create a robot with the desired functions.
-`Why solving this issue`
-- 1. Electrical design is necessary for building a robot
-- 2. Having circuit on the surface of foldable robot instead of doing external wires makes it more accessible
+## Contribution
-`For`
-- Accessible and fast
-
-`Approve`
-- exported file (.dsn) can be viewed in Auto-router software directly (fig)
-- input table vs. output (fig)
-- Auto-router can read the file generated and proceed auto-routing (fig)
-
+This repository presents two software contributions from the technical perspective. For more information of the contribution from the research perspective, please see the paper.
-#### *Contribution B (Mechanical Drawing processing)*
-`What`
-- A module can take arbitrary 2D-mechanical design for automatic electrical design
+- DFM (design for manufacturing) software package for the fabrication process we developed.
+- PCB software package generates electrical routing from board outlines converted from an arbitrary mechanical design.
-`How`
-- mechanical drawing pre-processing
- - line stroked to path
- - polylines provides continuous closed shape for lines
+System Pipeline
-`Solves issue`
-- Extra effort is needed for a complex CAD drawing to be recognized as electrical board outlines (provide example fig)
+
-`Why solving this issue`
-- Specific type and style of CAD drawings are required to use open-source auto-routing software
-- Learning specification and drawing software would waste time and effort of causal users
-
-`For`
-- Accessible
+## Method
-`Approve`
-- Show different line properties in inkscape between mechanical design and after pre-processing (fig)
-- Such shape can be viewed in Auto-router and routing treat drawings as obstacles properly (fig)
+#### DFM software package
-
-#### *Contribution C (Circuit Pattern)*
-`What`
-- A module generates fabrication file for materials based on electromechanical design
+This software package takes the electrical design and the mechanical design of a foldable robot as inputs and outputs such drawing file that makes users ready to proceed the fabrication. We use the 2-D drawing file with extension of `dxf` to represent the electromechanical design of a foldable robot. Such drawing are designed to contain multiple layers meaning different fabrication types.
-`How`
-- Fabrication drawing post-process
- - parse wiring information
- - parallel traces/ isolation boundaries/ pin insertion
+
-`Solves issue`
-- Design of patterns of wiring is required based on material of foldable robot for proper electrical performance. It would need technical experience.
+The software converts each wiring information into wiring patterns onto the mechanical drawing. The patterns can be tuned through user input. The default wiring pattern turns a single wire in the electrical design to a wider wire with three layers. The reason is to remove extra conductive material during the fabrication when users print such robot on a conductive material.
-`Why solving this issue`
-- Patterns are necessary to ensure there is no short or open circuit for circuit on the surface of robot
-- Change design of such pattern can consume a lot effort
+#### PCB osftware package
+This software package takes user input of electrical netlist and mechanical design, outputs an electrical design file with wiring information. We utilize the auto-router [FreeRouting](https://freerouting.org/) to generate wiring information that can be passed to the DFM software package. We use the electrical design file with extension of `dsn` to represent the PCB layout. The package imports the mechanical design from a drawing, treats it as PCB outlines and wiring keepout areas.
-`Approve`
-- different circuit pattern can be output for materials (fig: direct wire vs parallel traces)
-- pic of direct wire fabrication by using conductive pen on paper
-- pic of showing isolation well for parallel trace pattern
-- pic of showing pin insertion pattern can conducts well
+
+## Implement My Work
-`For`
-- Accessible
-
-#### *Contribution D (Fabrication)*
-`What`
-- Foldable robot with functional electrical components on surface
- - A. Fabrication
- - B. Result
+#### DFM software package
-`How`
-- Describe fabrication process (pic/reference/experiment)
-
-`Solves Issue`
-- 1. A. Traditional printable circuit requires more cost/equipment/time (depends on reference search)
-- 2. B. Traditional PCB can not be folded to a robot
-- 3. B. Traditional PCB does not have arbitrary shape/holes inside
-
-`Why solving this issue`
-- Traditional robot and PCB making takes a long time, special equipment and technical experience.
-- While most of soft PCB are simple routing instead of taking complex mechanical design
-
-`Approve`
-- circuit can work properly on folded surface (fig)
-- circuit can go around holes and working properly (fig)
-- pic of a foldable robot with circuit working
-- Time it takes to do the whole robot
-- Price of copper + plastic paper
-
-`For`
-- Low cost & Fast
-
-
-### until 09/03/2019
-
-- Testing on physical prototype
-- Fabrication process
-- 
-- Result from cutter
-- 
-- Test before fully folding the robot
-- 
-- Appearance after fully folded
-- 
-
-### 08/29/2019
-
-- Fixing issues:
- - better performance with multiple wires connecting to single pin
- - changed a lot details in `drawing_processing` script:
- - `pop` for endpoints at each wire will be executed before parallel traces
- - `pop` and whether the point is connected to a pin is based a rule more restricted so even the wire does not connect to a pin without 0, 90 or 45 degree, it will still pop correctly
-- Complete design for demo that has paperbot with an IMU, a touch sensor connecting to LED and Resistor
-- 
-
-- Fixing `inkscape` unit and scale issue:
- - Save as svg
- - Select every entities in the drawing
- - Lock the width and height scale
- - Times (90/96) to either height or width
-
-### 08/28/2019
-
-- Solving issue:
- - The way mark pin as connected pin (solved)
- - Changed way reading path
- - Connect wire directly to pin after remove redundant small wires
- - Group wires that has same connection point and same slop for branch drawing
-
-- 
-
-
-### 08/27/2019
-
-- Solving issue:
- - multiple wires connecting to single pin
- - Partially solved by
- - Merge paths through pin as a single path in `sesreader`
- - If such path passes a pin, mark this pin as connected pin (partially working, fix needed)
- - Add a filter that remove intervals inside a path which is shorter than 0.5mm
-- TODO:
- - Solve the way mark pin as connected pin
- - Branch intersect sometimes is not draw correctly
- - Issues screenshot:
- - 
- - 
- - 
-
-- Current status:
-- 
-
-### 08/26/2019
-
-- Fixed issue:
- - `roco_dsn` now reads `flip` argument to get correct pin locations
-- Solving issue in progress:
- - When multiple wires are connecting to single pin. Isolation box is not draw correctly
- - Have Done:
- - Redo `sesreader` so paths will not be continued to merge if it reach one of the pin location
-
-- 
-### 08/22/2019
-
-- Try to solve issues:
- - `get_pin_loc` function takes `flip` parameter incorrectly
- - a wiring path is connected to another path (fixed)
- - The contact point cannot contain more than two path intervals
-
-- 
-
-### 08/21/2019
-- TODO:
- - Find solution to deal with `inkscape` pixel scale bug
- - Read prototype `csv` file
-- Fabricate prototype
- - Bug reported : (fixed)
- - 
-#### Noticed Issue:
- - If two wiring paths are connected to one pin, it might generate a open circuit
- - If a wiring path is connected to another path instead of pin, an error will occur b/c it cannot find a pin connected to the tip of one of the path
-
-- 
-- Bug reported:
- - get_pin_loc function in `roco_dsn` does not consider `flip` situation, pin read wrong if `filp='back'`
-
-### 08/20/2019
-
-- Add multiple cut to parallel traces, get outer and inner helper diagonal cut so the isolation will work well
-
-- Making prototype cut from the output of software
-
-- Issue reported:
- - Footprint size and actual cut size not consistent
-### 08/19/2019
-
-- Remove the endpoint of a path if the last segment is inside the isolation box
-- Rodo the loop dealing with parallel traces
-- Add code that does isolation box for non-connected pin
-
-- 
-
-- When reading dwg file for dsn. It should know which is the boundary automatically.
-- Changed internal boundary index finder, so user won't need to type the boundary line index manually. A value will be parsed from pre-process class to dsn writter.
-- Merged and modified `dxf to path` function
-- Changed function does bi-sector in post-processing so it can fits the way we do `line to path` successfully
-- Whole process and pipeline works well now
-- Building high-level functions
-- Edit `sesreader` again and add a filter that removes redundant points
-- TODO:
- - put new drawings on dxf version >=12
- - so the width of drawing lines can be changed
- - Isolation box and parallel traces requires multiple parallel cut, changing width makes drawing easier to see
-
-### 08/16/2019
-
-- Record of Tips:
- - changing the clearance defined in `dsn` file changes the rule of routing
- - useful to change it according wire length and isolation box size
- - This will output multiple path
- - Redo `sesreader` so that it will merge paths those connect to each other
-
-### 08/15/2019
-
-- Solving issue: Connection between isolation box and parallel traces
-
-~~~
-
-input: endpoints of a path (each endpoints has i+1 for finding a line), iso_size, trace_width
-output: intersect points*2 , draw isolation box in the process
-
-input= contact_ept, further_ept, size, width
-
-for pin_loc in all pin locations:
- if the distance between endpoint1 and pin_loc is less than tolerance:
- l=line(contact_ept,further_ept)
- parallel_traces=find_offset(l,width)
- iso_l_pts=isolation_box_linepts(size,pin_loc)
- contact_list=[]
- for l in parallel_traces:
- contact=find_contact_iso_trace(l,iso_l_pts,further_ept)
- contact_list.append(contact)
-
- draw_list=[]
- draw_list.append(contact_list[0])
- while len(iso_boundary)!=0:
- for points in iso_boundary:
- find a point that is closest to last point of draw_list
- if not such point is inside of two contacts:
- draw_list.append(points)
- iso_boundary.remove(point)
-
- draw draw_list in order
- return contact_list
-
-~~~
-
-- Connection between isolation and parallel traces solved!!!
-- 
-- TODO:
- - Merge DXF to path code
- - Issue exposed: after changing wire width, box still not quite correct
- - `roco_ee_dwg_processing.py` line 132
-
-### 08/14/2019
-- Preparing software demo
-- High level of whole project package
-- 
-- Pipeline of drawing changes
-- 
-- Package module and classes breakdown
-- 
-- Structure of customized package `dsnwriter`
-- 
-- Structure of customized package `roco_ee_dwg`
-- 
-
-- Demo Video at [here](https://youtu.be/HeBw4uW3Xzc)
-
-- Solving issue: Connection between isolation box and parallel traces
-### 08/13/2019
-- Rearrange the package and draw the path directly on original drawing from old roco
-
-- dsn module placement match:
- - instead of getting pin locations from old roco. set pin location based on footprint when user place modules
- - Reason:
- - 1. no mechanical design needed for pins (especial will turn it to cross cut anyway)
- - 2. make sure the electrical board design and drawings will always be consistent
- - 3. easier to add new electrical components
- - 4. easier to do drawing post processing (dealing with traces and isolation boxes)
-- Completed: a cross cut will be drawn at pin locations and that is automatically read from circuit design. The package will only need to load module once when design circuit
-- 
-- Draw isolation boxes and connect one edge with parallel traces without causing open circuit (fail)
-- 
-- TODO:
- - Connect traces to isolation box
- - Merge pre-processing code
- - Demo
-
-
-
-### 08/12/2019
-- Finally figure out geometry algorithm on paper
-- Coding for parallel trace in following steps:
- - 1. find start point and end point of a path, compute 4 points that vertical to end points based on width
- - 2. find the angle bisector between each segment
- - 3. Offset original path based on given width
- - 4. find intersect between paths with offset and angle bisectors
- - 5. connect intersect points and 4 end-points
-
-- Separate file `paperbot_draw` to a general useful file `roco_ee_dwg_processing.py` and operations specifically for paperbot `paperbot_draw.py`
- - functions and classes in `roco_ee_dwg_processing.py` will be useful for future foldable robot project.
-
-- Finally complete the parallel trace drawing. Now any path exported from auto-router will draw parallel trace with desired width to make sure the copper type surface can conduct well.
-- 
-- TODO:
- - Connect traces to isolation box
- - Merge pre-processing code
- - Clean up script
- - Read trace width from Net Class
-### 08/09/2019
-
-- Potential problem:
- - drawing pre-processing has two goals: 1. put different intensity cuts on different layers for accurate fabrication 2. make line to 4 nodes path for auto-router treating as obstacles.
- - Two goal may conflict within single process
- - potential solution: send 4 nodes path to auto-router and draw wiring paths on drawing with signed layers.
-
-- Solving parallel traces math computation
-
-### 08/08/2019
-
-- `block` class in `ezdxf` generates symbol in `inkscape`. Check if it can be made to path from script
-- 
-- Changed the way of drawing `cross-cut` to path directly instead of using inserting block class (see [paperbot_draw.py](paperbot_ee_autoroute/paperbot_draw.py) for detail)
-
-- Parallel traces are not computed correctly
-- 
-### 08/07/2019
-- Working on drawing details regarding fabrication for electrical design
- - A block was created for 'cross cut' to fit pin insertions
- - Parallel traces are hard to get
- - A challenge that trimming isolation boxes with parallel traces occurs
-
-### 08/06/2019
-
-- Successfully parse the wiring information from `ses` file to array
- - A little "hacky" way, not using any parsing package but going through string and looking for path section
- - For `ses` file only
-- Create new scripts and Re-arrange all packages
- - User will be able to execute [fab_drawing.py](paperbot_ee_autoroute/fab_drawing.py) directly to get drawing for paperbot including electrical wiring design and ready to send to fabrication
- - If user wants to change electrical connection, one can edit [paperbot_dsn.py](paperbot_ee_autoroute/paperbot_dsn.py)
- - `dsnwriter` and `sesreader` source code are located [here](dsn_python/)
-- New script:
- - [paperbot_draw.py](paperbot_ee_autoroute/paperbot_draw.py) has two classes:
- - `pre-process`
- - process the mechanical design drawing to correct format that can be taken by `dsnwriter` and `autorouter`
- - `post-process`
- - process the drawing file and draw wires based on `ses` file generated from `autorouter`
-- Milestone:
- - Now user can generate `dsn` file from script and confirm auto-routing.
- - A parser can pull information for wiring
- - Able to draw such wiring back on `dxf` drawings
- - 
-- TODO:
- - Merge pre drawing processing script with Daniel
- - Details:
- - add 'cross-cut' block in `ezdxf` for pin insertion cut
- - add 'parallel-trace' block in` ezdxf` for circuit trace on copper tape
-
-### 08/05/2019
-
-- Working on parsing routed (wiring section) text information.
- - Ref: [pyparsing](https://scipy-cookbook.readthedocs.io/items/Reading_Custom_Text_Files_with_Pyparsing.html)
-- Parsing generated `dsn` file back to `DSN` class
- - Fail
-- Parsing generated `kicad_pcb` file back to `pykicad` package - `pcb` class
- - Success
-- Working on:
- - debug dsn library so it can read file.
- - `pykicad` uses `pyparsing` internally
- - Rebuild `ses` file schema. Not working well
-
-
-
-### 08/01/2019
-
-- Scripting Auto-router from python
- - Run `.jar` package through python
- - Can open GUI with imported file
- - Cannot run auto-routing function from script
- - Manually click on auto-routing and save is needed (manual approval)
-
-### 07/31/2019
-
-- Use `dsnwriter` in RoCo
-
-~~~
-
-Mechanical drawings (dxf/svg)------------|
- |
-Module Footprints -----------------------|
- |----> board design (dsn)
-Electrical schematic design (netlist)----|
- |
-Board design details(rules,parameters)---|
-
-
-
-----> board design (dsn)----> Auto-router (FreeRouting)----> routed board design (dsn)
-----> wiring section ----> drawings with mechanical and electrical design (dxf/svg)
-~~~
-
-- The package now can auto-detect padstack information with multiple files
-
-### 07/30/2019
-- Record of Tips:
- - Use `@classmethod` in class to parse information pull out from files (netlist,drawings,footprint) to original class
-- Package Dependencies:
- - [pykicad](https://github.com/dvc94ch/pykicad)
- - numpy
-- Class Footprint now can call function `from_file(path,ref)` to load footprint from a `.kicad_mod` file
-- Class Padstack now can call function 'auto_detact(path)` to guess information of pads and save as padstack class
- - Via information need to be defined by users. (default=None)
-- Placement class can be defined after footprint is loaded and able to define the position of each component by calling `ref` of module.
-- 
-- 
-
-- Netclass is easy to write from script.
-- Test auto-routing on generated `dsn`
-- 
-- Test on wire width change
-- 
-
-- TODO: Easier API to generate netlist.
-
-
-### 07/29/2019
-
-- Was working on 'dsn_python' Python Library.
-- Latest package can be found at [personal github](https://github.com/monkalynn813/dsn_python)
-- Class tree:
-
-~~~
- |--dsnwritter.py (top and second level structure)
- |--dsn_module.py
- |--module class
- |--load module functions
- |--dsn_rule.py
- |--dsn_geo.py
- |--boundary class
- |--keepout class
- |--load drawing functions
- |--dsn_net.py
- |--net class
- |--netclass class
- |--load netlist functions
-~~~
-
-
-- Text tree structure is done.
- - Documentation and notes for code needed
-- Functions are needed to help user use library.
- - Function that load `dxf` file
- - Function that load `footprint` file
- - Function that load `netlist` file
-- For board outline/footprint/netlist not loaded from file but define through this library manually, it works very well for now.
-- Pull out those information from low-level file and convert it to proper text for `dsn` file
-
-- Record of Tips:
- - `Freerouting` cannot take more than one boundary. (error: exact 1 bounding expected)
-
-- Able to use functions to load `dxf` drawings
-- "internal cut issue" solved
- - Treat every line individually as polygon and labeled as keepout in `dsn` library
- - 
- - 
-
-
-
-
-
-
-
-
-
-
-### 07/24/2019
-
-- Pipeline change: (skipping `KiCAD`)
- - Use (`dxf`+ `pretty` (footprint library) + `net` information ) to generate `dsn` file
- - Send `dsn` file to auto-router, save as new `dsn` file
- - Read `dsn` file `wiring` information and draw it back on `dxf`
-
-- Analysis on `dsn` file format:
+For testing:
~~~
- |--pcb
- | |--parser
- | |--resolution
- | |--unit
- | |--structure
- | | |--layer 1
- | | |-- ...
- | | |--boundary
- | | |--keepout 1
- | | |-- ...
- | | |--via
- | | |--rule
- | |--placement
- | | |--component 1
- | | |-- ...
- | |--library
- | | |--image [ref**] 1
- | | | |--outline
- | | | |--pin
- | | |-- ...
- | | |--padstack
- | | |--...
- | |--network
- | | |--net [name] 1
- | | | |--pins
- | | |-- ...
- | |--wiring
- | | |--wire
+cd EEME_design
+python3 roco_electrical.py
~~~
+Call the function `roco_electrical.roco_add_ee` for arbitrary design. Arguments:
+- me_drawing: mechanical drawing file (`dxf` file, please make sure everything need to cut is in "Cut" layer)
+- CSV file that describes your netlist, one can also change it by modifying the information in `roco_dsn.py`
+- Electrical modules footprint library
+- The directory of `dsnwriter` package (default under same directory of EEME_design)
-- TODO: functions that load modules and footprints
-
-
-### 07/23/2019
-
-- Solving issue: export `.kicad_brd` file to `dsn` file for auto-router
-- No known Python API so far.
-- [schematic-file-converter](https://github.com/ljmljz/schematic-file-converter)
- - Take `.sch` file from `KiCAD` instead of `.kicad_brd` file
-
-- Official bug report has been requested. Not targeted in current `KiCAD` scripting version
- - [bug report](https://bugs.launchpad.net/kicad/+bug/1824668)
-
-- Potential Solutions:
- - 1. Explore existing supported export API, and see if modification can be made based on existing API structure
- - 2. Learn `dsn` file specification and python library to generate `dsn` file based on design information
-
-### 07/22/2019
-
-- Research on multiple KiCAD Python packages
-- [package 3rd party list](https://github.com/xesscorp/kicad-3rd-party-tools/blob/master/README.md#footprint-library-tools)
-- None can import `dxf` into `pcbnew`
-- To import `dxf` into `pcbnew` automatically:
- - Create a python API by myself based on the `c++` code
- - Draw lines directly in `pcbnew` by using line information in `dxf`
-
-- Create a python script serving as Python API by drawing everything on `pcbnew`
-- Dependencies:
- - ezdxf
- - pykicad
-- Successfully import `dxf` as outlines from script
-- 
-
-### 07/18/2019
-
-- Research on pcbnew API
- - Using package [pykicad](https://github.com/dvc94ch/pykicad)
- - Record of Tips:
- - Do not add segments, which will route connections
- - Different reference name need to be set for `dsn` export
-
- - Able to add footprint and net list into pcbnew.
- - TODO:
- - Import dxf as outlines from script
- - Export board as `dsn`
-
-### 07/17/2019
-
-- Notice that even the drawings cannot be imported onto 'wiring' layer, but can be changed manually to 'wiring' layer after importing onto 'edge.cut' layer
- - `Freerouting` does not recognize wires that does not connect to any pins as obstacles.
- - 
- - 
-
-- Work on script doing board design
- - Create New Board
- - Import DXF
- - Load Netlist `.net` file
- - Place modules
- - Export to `.dsn` file
-
-### 07/16/2019
-
-- Fill and Stroke (Shift + Ctrl + F)
-- Stroke to Path
-- Union
-- Break Apart
-- Remove each outer layer (manually)
-- Export
-- 
-- 
-- 
-
-- Consider success when export for auto-routing manually. Huge challenge expected when doing it from script.
-
-- Work on script doing schematic design
- - *Assume symbol and footprint downloaded*
- - Package Using: [skidl](https://xesscorp.github.io/skidl/docs/_site/)
- - Record of Tips:
- - Add custom library path that contains all symbols of electrical devices needed (`NodeMCU`)
- - Use attribute `footprint` to add footprint for such symbol
- - footprint syntax: 'footprint= libname.pretty: foot_print_name
- - footprint directory should be under the same directory where `.lib` file is.
-
-
-### 07/15/2019
-
-- 3 potential ways to solve the issue on KiCAD with internal cut
-- *Assume the position of each internal cut line is known*
-
- - 1. Make internal cut a closed shape (original cut with thickness)
- - Pro: Easy to import routed circuit back to dxf cutter file
- - Con: Hard to make the cut itself a closed shape.
-
- - 2. Make internal cut outlines a block on certain layer and treat it as obstacle in auto-router
- - Pro: Easy to generate a block as obstacle in drawing
- - Con: Hard to import routed circuit back to dxf cutter file
-
- - 3. Put internal cut on different layer in KiCAD that can be read as obstacle in auto-router
- - Best solution for now if the auto-router will be able to read single cut line, but cannot be edge.cut layer for sure, otherwise board outlines cannot be found by KiCAD.
-
-- Cut lines causing issues are marked in red.
-- 
-
-- `Inkscape` :
- - Object stroke to path can make everything looks like a bounding box
-
-- Attempts:
-- 1. Stroke every line, auto-router shows nothing, no error
-- 
-- 
-- 2. Stroke every line, but has a larger boundary. auto-router shows nothing, error: cannot start a route inside of keepout area or boundary outlines
-- 
-- 
-- 3. Stroke every line but make the boundary outlines not closed, and draw a larger outline. Auto-router shows nothing, no error
-- 
-- 
-- 4. Stroke only outline but make the boundary outlines not closed, and draw a larger outline. Auto-router shows properly. (no way to do it from script)
-- 
-- 
-- 
-
-
-### 07/11/2019
-
-- Solved Error `unable to find segment with an endpoint`
- - `DSN` file can only be exported for continuous closure outlines
- - 
-
- - Drawings like this drawing for paper cut is not acceptable for `dsn` file.
- - Change it either to close shape or remove it when import to KiCAD
-
-- Solving Issue: `FreeRouting` is not reading edge cut layer from `dsn`
-
- - Work well on a sample `dsn` file
- - Issue with KiCAD output
- - Sample KiCAD project can output outlines properly.
-
-- Issue found:
- - KiCAD cannot take single line cut. Closed shape needed.
-
-
-
-### 07/10/2019
-
-##### Approach A
-
-
-- Import to PCBnew issue:
- - Dimension of board outlines are incorrect
- - Pins does not fit in original drawings
- - (solved. Microcontroller footprint was incorrect)
-
-- pipeline confirmed:
-
- - 1. Build symbol and footprint library for all required electrical element
- - 2. Sketch schematic design
- - `.sch` file
- - 3. Place elements in required position
- - `.dsn` file
- - 4. Import `dsn` file into `FreeRouting` and do auto-routing
- - `.ses` file
- - 5. Import `ses` file back to `KiCAD` and export as `dxf` file
- - `.dxf` file
-
-- Manually tested pipeline till step 4
-
-- Step 3
-- 
-
-- Step 4
-- 
- - ISSUE:
- - Board outlines are not exported correctly to `FreeRouting`
- - Error: `unable to find segment with an endpoint`
-
- - Record of Tips:
- - To run `FreeRouting` from command line:
- ~~~
- java -jar freeRouting.jar [proj.dsn]
- ~~~
-- TODO:
- - Finish with testing the pipeline manually
- - Achieve steps directly from script (Python API)
-
-### 07/09/2019
-- Finish up path-finding approach (Approach B)
-- Only draw the best path on `dxf` when solution is found for every route.
-- 
-- Throw warning once a route cannot be found
-- 
-
-- Research on Approach A
- - KiCAD 5 does not have built-in auto-router
- - Have to use `FreeRouting`
-
- - `FreeRouting` does not have python API
- - Parent package of `FreeRouting`, `LayoutEditor` has multiple editions
- - Part of `LayoutEditor` is open- source
- - A large amount of of its website are broken, source and interface are unavailable
-
-- Other auto-routers are not open-source
-
-##### Approach A
-- 1. Use `LayoutEditor` python API to use `FreeRouting`
-- 2. Use `KiCAD 5` python API to sue `FreeRouting`
-- 3. Use `KiCAD 4` python API to use builtin auto-routing
-
-###### 1
-- `FreeRouting` input format: `dsn`, `lef`, `def`
-- `FreeRouting` output format: `ses`, `def`
-- `FreeRouting` can take arbitrary board outlines shape
-
-- Edit `library` manually and test routing
-- 
-
-- TODO:
- - If can run KiCAD 4 from python
- - Check `FreeRouting` API, see if a acceptable file can be generated from things on hand
-
-
-
-### 07/08/2019 (Mon)
-
-- Debug multi-node path finding:
- - some obstacles are ignored
- - too close to each other
-- Able to show the learning process:
- - Trying different combination of solving order
- - Try to give the best order of solving multiple path
-
-##### Auto-routing learning process:
- - 
-
-- Comparison between episodes and choose best combo of paths
-- 
-
-##### Issues and TODO
-- Path export from optimization is messed up
-- Obstacles setting are incorrect
-
-### 07/05/2019 (Fri)
-- Write out algorithm for multi-node path finding
- - pseudo code:
-
-~~~~
- for (episode in E):
- set initial state s (choose first pair of nodes to connect randomly)
- find a path
- update map
- while not every connection is built:
- choose next connection
- find a path
- update map
- retrieve cost (length of path)
- update Q (as sum of all cost)
-
-~~~~
- - Q here represents total cost of certain choice of path finding order.
- - Cost defined by length of path
- - If path cannot be found, cost 1000
- - Input: NX2X2 array specifies desired pin connections
-
-
-- Research on KiCAD import needs and python API
-
-### 07/03/2019 (Wed)
-- dxf processing completed
-
-- Convert dxf to matrix with resolution (270X210) (mm)
- - Potential issue:
- - the `pathfinding` package is based on pixel
- - When round up the line's start and end point, the accuracy of pin position is low
-
-- Apply single point to point path finding
- - Able to draw the path on matrix
- - Able to draw the path on original dxf file
-- 
-
-- TODO:
- - Write out algorithm for multi-node path finding
- - break single circuit trace to parallel traces
- - solve the accuracy problem
-
-
-### 07/02/2019 (Tue)
-- Continue the dxf processing
-- Following tasks can be completed by running the code:
- - Able to detect pin center coordinate
- - Able to draw arbitrary shape around the pin center
- - 
-
-- - Issue & TODO
- - Convert dxf image to matrix
- - Explore `pathfinding` package
-
- - `pathfinding` package solve path finding problem by shortest path algorithm, one point to another
- - To solve multiple nodes problem, use concept from reinforcement learning
- - Build Q function that represents total reward of choosing certain path to be solved first
- - Update Q function in a loop with certain amount of episodes
- - Choose the order of solving paths randomly, and add possibility of choosing it from Q function
- - Exploration-exploitation method
-- To solve the problem "convert dxf to matrix" for pathfinding:
- - Have tried:
- - Export to `png` and read file by `OpenCV`
- - Resolution problem: single point does not represented as a pixel in `png`
- - TODO:
- - create an empty matrix and fill in numbers with the information of each lines' start and end point
-
-
-### 07/01/2019 (Mon)
-- Continue the dxf processing with `'graph-silhouette.dxf'`
-##### Record of tips:
- - Put circuit design on a new layer of dxf drawing
- - [check doc about layers here](https://ezdxf.readthedocs.io/en/latest/tutorials/layers.html)
- - Use block feature to draw similar pattern
- - [check doc about block here](https://ezdxf.readthedocs.io/en/latest/tutorials/blocks.html)
- - Blocks are `symbol` in Inkscape. Convert `symbol` to `path`
- - Edit > Clone > Unlink Clone (Shift+Alt+D), and you have a group, ungroup (Object > Ungroup, or Shift+Ctrl+G) and edit
- - Convert `text` to `path`
- - Path combine (Ctrl+K)
- - msp.delete_enetity('__') to remove existing entity
-
-- Test fabrication with different drawing settings
- - Layers can be cut separately by toggling visibility
- - Set cuts with same `intensity` and `feedrate` on same layer
- - Entities' layer can be changed through `Entity.dxf.layer`
-
-### 06/29 & 06/30/2019 (Sat & Sun)
-##### Approach `B`
-- Potential needed functions of packages
-
- - A package draws on DXF file through script
- - A script that pulls out pins' coordinate on paper chassis
- - Or a image process package (OpenCV) that reads pins' coordinate on paper chassis
- - A package solves multi-node path finding problem*
-
-##### Record of Research
-- Python Pathfinding package:
- - [pathfinding](https://pypi.org/project/pathfinding/#description)
-- Python DXF editor:
- - [ezdxf](https://pypi.org/project/ezdxf/)
- - [dxfgrabber](https://pypi.org/project/dxfgrabber/)
- - `Note`: able to grab simple geometry from file
- - [sdxf](http://www.kellbot.com/sdxf-python-library-for-dxf/)
-- Going through tutorials of `ezdxf`
- - All lines on paper space`layer0`
-
-
-### 06/28/2019 (Fri)
-##### Connection and fabrication approach confirmed !
-- Confirm that copper tape has better conductivity than aluminum sheet when attaching microcontroller pins through `H-shape` cut
- - Copper tape is harder to be scratched, which provides less risk of disconnection during assembly.
-- Etching on copper type isolates connections
-
-- Research on PCB editor
- - EAGLE
- - EAGLE cannot import `.pcb` file
- - `svg` can be exported but not imported
- - Custom library needed if doing schematic design
- - KiCad
- - Can import `.pcb` file
- - `svg` can be exported but not imported
- - LayoutEditor
- - support multiply file type
- - `svg` can be exported with different color makers as multiple layers
- - include open-sourced auto-router `freerouting`
-- Auto-routing package:
- - TopoR
- - Python-PCB
- - FreeRouting
-
-
-- Approaches:
- - `A`. convert SVG/DXF file to schematic/board design of PCB. Use KiCAD or EAGLE to do auto routing.
- - `B`. develop algorithm on auto routing for single layer svg/dxf file. (path finding problem)
-
-
-##### Approach `A`
-- Use regular shape board for PCB in EAGLE/KiCAD
- - image processing: divide the shape of `paperbot` to multiple rectangles (ezdxf)
-
- - Pull required connections and place additional header pins around edges of each rectangle
+- Optional parameters:
+ - trace_width: width of the wiring pattern
+ - iso_size: size of the isolation pattern
+ - cross_size: size of the placement pattern
-- Make each connection pin to be two parallel connections so auto-router does parallel trace for each wiring.
- - Etching a pair of parallel trace provides isolation, and leave the space between traces to be conductible.
+For fabrication process, please see the paper and demo video.
-- Build Library for schematic design
- - Schematic design helps with router to know desired connection
- - Additional header pins at each side of kink mark
+## Demo
-### 06/27/2019 (Thur)
-- Compile `OldRoCo` [repo](https://git.uclalemur.com/mehtank/oldroco)
- - Record of modification:
- - ++line 8 of `vstart.sh`
- - --> `pip install -r requirements.txt --user`
-- Export `paperbot` dxf file : `graph-silhouette.dxf` to `OnShape`
- - Record of Tips:
- - Onshape does not read dxf file as its own saved unit. Manual settings needed when import.
- - 
-- Draw circuit diagram as CAD on `Onshape`
- - Multiple connection approaches:
- - `Cross` shape of `0.039 in`
- - `Cross` shape of `0.049 in`
- - `Octangular` shape of `0.049 in`
- - 
- - 
- - Note and issue:
- - `Octangular` shape is the best connection approach so far, but none of approach has stable conductivity. More research is needed.
- - Scratches can be made easily when attaching microcontroller to the sheet. Potential disconnection may occur due to such scratches on metal layer.
-- Export 2D CAD drawing with PCB to SVG for silhouette cameo
- - Record of Tips:
- - `OnShape` unit need to be consisted with unit setting in `Inkscape` (default: mm)
- - Plugin `Inkscape-silhouette` cannot take multiple types of trace for cutting.
- - Different trace (especially cut and etching) need to be sent separately. Use `coordinate tool` of `Inkscape` to ensure separated cuts have same origin.
- - TODO:
- - Cut and etching from same `Inkscape` file
+One can find demo viedo [here](https://www.youtube.com/watch?v=SaRiikg01lI)
diff --git a/developer_journal.md b/developer_journal.md
new file mode 100644
index 0000000000000000000000000000000000000000..13501d1e86bdfa1021cce3ecacb6f765f0b1e323
--- /dev/null
+++ b/developer_journal.md
@@ -0,0 +1,989 @@
+### Jingyan Ling
+
+### 09/04/2019
+
+- Paper Outlines
+
+#### An Accessible way to rapidly build foldable robots from automatic electromechanical design
+
+#### I. Introduction (1)
+- 1. Robot functionality highly depends on electrical component it carries
+- 2. Personalized robot needs technical experience
+- 3. Work based on previous work of RoCo mechanical design
+- 4. Bullet points of contributions
+
+#### II. Related Work (1-2)
+- 1. Roco mechanical design for foldable robot
+- 2. Freerouting software for auto-router
+
+#### III. Design Strategies (2-5)
+- A. Design as a PCB
+- B. Mechanical drawing processing
+- C. Circuit pattern
+- D. Fabrication
+
+#### IV. Result (5-6)
+- Pipeline of the system
+- Show results through each step in the pipeline
+- State time and cost
+
+#### V. Conclusion (6)
+- A. Contributions
+ - Accessible
+ - Fast
+- B. Future Work
+ - Stability
+ - Durability
+
+#### *Contribution A (Design as a PCB)*
+`What`
+- An integrated method to do PCB design from simple user input
+
+`How`
+- building `dsnwritter` python library
+ - module, footprint lib, wiring options...
+
+`Solves issue`
+- 1. Experience of using PCB design software (KiCAD/EAGLE) is needed for typical PCB design; Causal user need time to learn software.
+- 2. Manually routing takes long time and requires technical experience
+
+`Why solving this issue`
+- 1. Electrical design is necessary for building a robot
+- 2. Having circuit on the surface of foldable robot instead of doing external wires makes it more accessible
+
+`For`
+- Accessible and fast
+
+`Approve`
+- exported file (.dsn) can be viewed in Auto-router software directly (fig)
+- input table vs. output (fig)
+- Auto-router can read the file generated and proceed auto-routing (fig)
+
+
+#### *Contribution B (Mechanical Drawing processing)*
+`What`
+- A module can take arbitrary 2D-mechanical design for automatic electrical design
+
+`How`
+- mechanical drawing pre-processing
+ - line stroked to path
+ - polylines provides continuous closed shape for lines
+
+`Solves issue`
+- Extra effort is needed for a complex CAD drawing to be recognized as electrical board outlines (provide example fig)
+
+`Why solving this issue`
+- Specific type and style of CAD drawings are required to use open-source auto-routing software
+- Learning specification and drawing software would waste time and effort of causal users
+
+`For`
+- Accessible
+
+`Approve`
+- Show different line properties in inkscape between mechanical design and after pre-processing (fig)
+- Such shape can be viewed in Auto-router and routing treat drawings as obstacles properly (fig)
+
+
+#### *Contribution C (Circuit Pattern)*
+`What`
+- A module generates fabrication file for materials based on electromechanical design
+
+`How`
+- Fabrication drawing post-process
+ - parse wiring information
+ - parallel traces/ isolation boundaries/ pin insertion
+
+`Solves issue`
+- Design of patterns of wiring is required based on material of foldable robot for proper electrical performance. It would need technical experience.
+
+`Why solving this issue`
+- Patterns are necessary to ensure there is no short or open circuit for circuit on the surface of robot
+- Change design of such pattern can consume a lot effort
+
+`Approve`
+- different circuit pattern can be output for materials (fig: direct wire vs parallel traces)
+- pic of direct wire fabrication by using conductive pen on paper
+- pic of showing isolation well for parallel trace pattern
+- pic of showing pin insertion pattern can conducts well
+
+`For`
+- Accessible
+
+#### *Contribution D (Fabrication)*
+`What`
+- Foldable robot with functional electrical components on surface
+ - A. Fabrication
+ - B. Result
+
+`How`
+- Describe fabrication process (pic/reference/experiment)
+
+`Solves Issue`
+- 1. A. Traditional printable circuit requires more cost/equipment/time (depends on reference search)
+- 2. B. Traditional PCB can not be folded to a robot
+- 3. B. Traditional PCB does not have arbitrary shape/holes inside
+
+`Why solving this issue`
+- Traditional robot and PCB making takes a long time, special equipment and technical experience.
+- While most of soft PCB are simple routing instead of taking complex mechanical design
+
+`Approve`
+- circuit can work properly on folded surface (fig)
+- circuit can go around holes and working properly (fig)
+- pic of a foldable robot with circuit working
+- Time it takes to do the whole robot
+- Price of copper + plastic paper
+
+`For`
+- Low cost & Fast
+
+
+### until 09/03/2019
+
+- Testing on physical prototype
+- Fabrication process
+- 
+- Result from cutter
+- 
+- Test before fully folding the robot
+- 
+- Appearance after fully folded
+- 
+
+### 08/29/2019
+
+- Fixing issues:
+ - better performance with multiple wires connecting to single pin
+ - changed a lot details in `drawing_processing` script:
+ - `pop` for endpoints at each wire will be executed before parallel traces
+ - `pop` and whether the point is connected to a pin is based a rule more restricted so even the wire does not connect to a pin without 0, 90 or 45 degree, it will still pop correctly
+- Complete design for demo that has paperbot with an IMU, a touch sensor connecting to LED and Resistor
+- 
+
+- Fixing `inkscape` unit and scale issue:
+ - Save as svg
+ - Select every entities in the drawing
+ - Lock the width and height scale
+ - Times (90/96) to either height or width
+
+### 08/28/2019
+
+- Solving issue:
+ - The way mark pin as connected pin (solved)
+ - Changed way reading path
+ - Connect wire directly to pin after remove redundant small wires
+ - Group wires that has same connection point and same slop for branch drawing
+
+- 
+
+
+### 08/27/2019
+
+- Solving issue:
+ - multiple wires connecting to single pin
+ - Partially solved by
+ - Merge paths through pin as a single path in `sesreader`
+ - If such path passes a pin, mark this pin as connected pin (partially working, fix needed)
+ - Add a filter that remove intervals inside a path which is shorter than 0.5mm
+- TODO:
+ - Solve the way mark pin as connected pin
+ - Branch intersect sometimes is not draw correctly
+ - Issues screenshot:
+ - 
+ - 
+ - 
+
+- Current status:
+- 
+
+### 08/26/2019
+
+- Fixed issue:
+ - `roco_dsn` now reads `flip` argument to get correct pin locations
+- Solving issue in progress:
+ - When multiple wires are connecting to single pin. Isolation box is not draw correctly
+ - Have Done:
+ - Redo `sesreader` so paths will not be continued to merge if it reach one of the pin location
+
+- 
+### 08/22/2019
+
+- Try to solve issues:
+ - `get_pin_loc` function takes `flip` parameter incorrectly
+ - a wiring path is connected to another path (fixed)
+ - The contact point cannot contain more than two path intervals
+
+- 
+
+### 08/21/2019
+- TODO:
+ - Find solution to deal with `inkscape` pixel scale bug
+ - Read prototype `csv` file
+- Fabricate prototype
+ - Bug reported : (fixed)
+ - 
+#### Noticed Issue:
+ - If two wiring paths are connected to one pin, it might generate a open circuit
+ - If a wiring path is connected to another path instead of pin, an error will occur b/c it cannot find a pin connected to the tip of one of the path
+
+- 
+- Bug reported:
+ - get_pin_loc function in `roco_dsn` does not consider `flip` situation, pin read wrong if `filp='back'`
+
+### 08/20/2019
+
+- Add multiple cut to parallel traces, get outer and inner helper diagonal cut so the isolation will work well
+
+- Making prototype cut from the output of software
+
+- Issue reported:
+ - Footprint size and actual cut size not consistent
+### 08/19/2019
+
+- Remove the endpoint of a path if the last segment is inside the isolation box
+- Rodo the loop dealing with parallel traces
+- Add code that does isolation box for non-connected pin
+
+- 
+
+- When reading dwg file for dsn. It should know which is the boundary automatically.
+- Changed internal boundary index finder, so user won't need to type the boundary line index manually. A value will be parsed from pre-process class to dsn writter.
+- Merged and modified `dxf to path` function
+- Changed function does bi-sector in post-processing so it can fits the way we do `line to path` successfully
+- Whole process and pipeline works well now
+- Building high-level functions
+- Edit `sesreader` again and add a filter that removes redundant points
+- TODO:
+ - put new drawings on dxf version >=12
+ - so the width of drawing lines can be changed
+ - Isolation box and parallel traces requires multiple parallel cut, changing width makes drawing easier to see
+
+### 08/16/2019
+
+- Record of Tips:
+ - changing the clearance defined in `dsn` file changes the rule of routing
+ - useful to change it according wire length and isolation box size
+ - This will output multiple path
+ - Redo `sesreader` so that it will merge paths those connect to each other
+
+### 08/15/2019
+
+- Solving issue: Connection between isolation box and parallel traces
+
+~~~
+
+input: endpoints of a path (each endpoints has i+1 for finding a line), iso_size, trace_width
+output: intersect points*2 , draw isolation box in the process
+
+input= contact_ept, further_ept, size, width
+
+for pin_loc in all pin locations:
+ if the distance between endpoint1 and pin_loc is less than tolerance:
+ l=line(contact_ept,further_ept)
+ parallel_traces=find_offset(l,width)
+ iso_l_pts=isolation_box_linepts(size,pin_loc)
+ contact_list=[]
+ for l in parallel_traces:
+ contact=find_contact_iso_trace(l,iso_l_pts,further_ept)
+ contact_list.append(contact)
+
+ draw_list=[]
+ draw_list.append(contact_list[0])
+ while len(iso_boundary)!=0:
+ for points in iso_boundary:
+ find a point that is closest to last point of draw_list
+ if not such point is inside of two contacts:
+ draw_list.append(points)
+ iso_boundary.remove(point)
+
+ draw draw_list in order
+ return contact_list
+
+~~~
+
+- Connection between isolation and parallel traces solved!!!
+- 
+- TODO:
+ - Merge DXF to path code
+ - Issue exposed: after changing wire width, box still not quite correct
+ - `roco_ee_dwg_processing.py` line 132
+
+### 08/14/2019
+- Preparing software demo
+- High level of whole project package
+- 
+- Pipeline of drawing changes
+- 
+- Package module and classes breakdown
+- 
+- Structure of customized package `dsnwriter`
+- 
+- Structure of customized package `roco_ee_dwg`
+- 
+
+- Demo Video at [here](https://youtu.be/HeBw4uW3Xzc)
+
+- Solving issue: Connection between isolation box and parallel traces
+### 08/13/2019
+- Rearrange the package and draw the path directly on original drawing from old roco
+
+- dsn module placement match:
+ - instead of getting pin locations from old roco. set pin location based on footprint when user place modules
+ - Reason:
+ - 1. no mechanical design needed for pins (especial will turn it to cross cut anyway)
+ - 2. make sure the electrical board design and drawings will always be consistent
+ - 3. easier to add new electrical components
+ - 4. easier to do drawing post processing (dealing with traces and isolation boxes)
+- Completed: a cross cut will be drawn at pin locations and that is automatically read from circuit design. The package will only need to load module once when design circuit
+- 
+- Draw isolation boxes and connect one edge with parallel traces without causing open circuit (fail)
+- 
+- TODO:
+ - Connect traces to isolation box
+ - Merge pre-processing code
+ - Demo
+
+
+
+### 08/12/2019
+- Finally figure out geometry algorithm on paper
+- Coding for parallel trace in following steps:
+ - 1. find start point and end point of a path, compute 4 points that vertical to end points based on width
+ - 2. find the angle bisector between each segment
+ - 3. Offset original path based on given width
+ - 4. find intersect between paths with offset and angle bisectors
+ - 5. connect intersect points and 4 end-points
+
+- Separate file `paperbot_draw` to a general useful file `roco_ee_dwg_processing.py` and operations specifically for paperbot `paperbot_draw.py`
+ - functions and classes in `roco_ee_dwg_processing.py` will be useful for future foldable robot project.
+
+- Finally complete the parallel trace drawing. Now any path exported from auto-router will draw parallel trace with desired width to make sure the copper type surface can conduct well.
+- 
+- TODO:
+ - Connect traces to isolation box
+ - Merge pre-processing code
+ - Clean up script
+ - Read trace width from Net Class
+### 08/09/2019
+
+- Potential problem:
+ - drawing pre-processing has two goals: 1. put different intensity cuts on different layers for accurate fabrication 2. make line to 4 nodes path for auto-router treating as obstacles.
+ - Two goal may conflict within single process
+ - potential solution: send 4 nodes path to auto-router and draw wiring paths on drawing with signed layers.
+
+- Solving parallel traces math computation
+
+### 08/08/2019
+
+- `block` class in `ezdxf` generates symbol in `inkscape`. Check if it can be made to path from script
+- 
+- Changed the way of drawing `cross-cut` to path directly instead of using inserting block class (see [paperbot_draw.py](paperbot_ee_autoroute/paperbot_draw.py) for detail)
+
+- Parallel traces are not computed correctly
+- 
+### 08/07/2019
+- Working on drawing details regarding fabrication for electrical design
+ - A block was created for 'cross cut' to fit pin insertions
+ - Parallel traces are hard to get
+ - A challenge that trimming isolation boxes with parallel traces occurs
+
+### 08/06/2019
+
+- Successfully parse the wiring information from `ses` file to array
+ - A little "hacky" way, not using any parsing package but going through string and looking for path section
+ - For `ses` file only
+- Create new scripts and Re-arrange all packages
+ - User will be able to execute [fab_drawing.py](paperbot_ee_autoroute/fab_drawing.py) directly to get drawing for paperbot including electrical wiring design and ready to send to fabrication
+ - If user wants to change electrical connection, one can edit [paperbot_dsn.py](paperbot_ee_autoroute/paperbot_dsn.py)
+ - `dsnwriter` and `sesreader` source code are located [here](dsn_python/)
+- New script:
+ - [paperbot_draw.py](paperbot_ee_autoroute/paperbot_draw.py) has two classes:
+ - `pre-process`
+ - process the mechanical design drawing to correct format that can be taken by `dsnwriter` and `autorouter`
+ - `post-process`
+ - process the drawing file and draw wires based on `ses` file generated from `autorouter`
+- Milestone:
+ - Now user can generate `dsn` file from script and confirm auto-routing.
+ - A parser can pull information for wiring
+ - Able to draw such wiring back on `dxf` drawings
+ - 
+- TODO:
+ - Merge pre drawing processing script with Daniel
+ - Details:
+ - add 'cross-cut' block in `ezdxf` for pin insertion cut
+ - add 'parallel-trace' block in` ezdxf` for circuit trace on copper tape
+
+### 08/05/2019
+
+- Working on parsing routed (wiring section) text information.
+ - Ref: [pyparsing](https://scipy-cookbook.readthedocs.io/items/Reading_Custom_Text_Files_with_Pyparsing.html)
+- Parsing generated `dsn` file back to `DSN` class
+ - Fail
+- Parsing generated `kicad_pcb` file back to `pykicad` package - `pcb` class
+ - Success
+- Working on:
+ - debug dsn library so it can read file.
+ - `pykicad` uses `pyparsing` internally
+ - Rebuild `ses` file schema. Not working well
+
+
+
+### 08/01/2019
+
+- Scripting Auto-router from python
+ - Run `.jar` package through python
+ - Can open GUI with imported file
+ - Cannot run auto-routing function from script
+ - Manually click on auto-routing and save is needed (manual approval)
+
+### 07/31/2019
+
+- Use `dsnwriter` in RoCo
+
+~~~
+
+Mechanical drawings (dxf/svg)------------|
+ |
+Module Footprints -----------------------|
+ |----> board design (dsn)
+Electrical schematic design (netlist)----|
+ |
+Board design details(rules,parameters)---|
+
+
+
+----> board design (dsn)----> Auto-router (FreeRouting)----> routed board design (dsn)
+----> wiring section ----> drawings with mechanical and electrical design (dxf/svg)
+~~~
+
+- The package now can auto-detect padstack information with multiple files
+
+### 07/30/2019
+- Record of Tips:
+ - Use `@classmethod` in class to parse information pull out from files (netlist,drawings,footprint) to original class
+- Package Dependencies:
+ - [pykicad](https://github.com/dvc94ch/pykicad)
+ - numpy
+- Class Footprint now can call function `from_file(path,ref)` to load footprint from a `.kicad_mod` file
+- Class Padstack now can call function 'auto_detact(path)` to guess information of pads and save as padstack class
+ - Via information need to be defined by users. (default=None)
+- Placement class can be defined after footprint is loaded and able to define the position of each component by calling `ref` of module.
+- 
+- 
+
+- Netclass is easy to write from script.
+- Test auto-routing on generated `dsn`
+- 
+- Test on wire width change
+- 
+
+- TODO: Easier API to generate netlist.
+
+
+### 07/29/2019
+
+- Was working on 'dsn_python' Python Library.
+- Latest package can be found at [personal github](https://github.com/monkalynn813/dsn_python)
+- Class tree:
+
+~~~
+ |--dsnwritter.py (top and second level structure)
+ |--dsn_module.py
+ |--module class
+ |--load module functions
+ |--dsn_rule.py
+ |--dsn_geo.py
+ |--boundary class
+ |--keepout class
+ |--load drawing functions
+ |--dsn_net.py
+ |--net class
+ |--netclass class
+ |--load netlist functions
+~~~
+
+
+- Text tree structure is done.
+ - Documentation and notes for code needed
+- Functions are needed to help user use library.
+ - Function that load `dxf` file
+ - Function that load `footprint` file
+ - Function that load `netlist` file
+- For board outline/footprint/netlist not loaded from file but define through this library manually, it works very well for now.
+- Pull out those information from low-level file and convert it to proper text for `dsn` file
+
+- Record of Tips:
+ - `Freerouting` cannot take more than one boundary. (error: exact 1 bounding expected)
+
+- Able to use functions to load `dxf` drawings
+- "internal cut issue" solved
+ - Treat every line individually as polygon and labeled as keepout in `dsn` library
+ - 
+ - 
+
+
+
+
+
+
+
+
+
+
+### 07/24/2019
+
+- Pipeline change: (skipping `KiCAD`)
+ - Use (`dxf`+ `pretty` (footprint library) + `net` information ) to generate `dsn` file
+ - Send `dsn` file to auto-router, save as new `dsn` file
+ - Read `dsn` file `wiring` information and draw it back on `dxf`
+
+- Analysis on `dsn` file format:
+~~~
+ |--pcb
+ | |--parser
+ | |--resolution
+ | |--unit
+ | |--structure
+ | | |--layer 1
+ | | |-- ...
+ | | |--boundary
+ | | |--keepout 1
+ | | |-- ...
+ | | |--via
+ | | |--rule
+ | |--placement
+ | | |--component 1
+ | | |-- ...
+ | |--library
+ | | |--image [ref**] 1
+ | | | |--outline
+ | | | |--pin
+ | | |-- ...
+ | | |--padstack
+ | | |--...
+ | |--network
+ | | |--net [name] 1
+ | | | |--pins
+ | | |-- ...
+ | |--wiring
+ | | |--wire
+~~~
+
+
+
+- TODO: functions that load modules and footprints
+
+
+### 07/23/2019
+
+- Solving issue: export `.kicad_brd` file to `dsn` file for auto-router
+- No known Python API so far.
+- [schematic-file-converter](https://github.com/ljmljz/schematic-file-converter)
+ - Take `.sch` file from `KiCAD` instead of `.kicad_brd` file
+
+- Official bug report has been requested. Not targeted in current `KiCAD` scripting version
+ - [bug report](https://bugs.launchpad.net/kicad/+bug/1824668)
+
+- Potential Solutions:
+ - 1. Explore existing supported export API, and see if modification can be made based on existing API structure
+ - 2. Learn `dsn` file specification and python library to generate `dsn` file based on design information
+
+### 07/22/2019
+
+- Research on multiple KiCAD Python packages
+- [package 3rd party list](https://github.com/xesscorp/kicad-3rd-party-tools/blob/master/README.md#footprint-library-tools)
+- None can import `dxf` into `pcbnew`
+- To import `dxf` into `pcbnew` automatically:
+ - Create a python API by myself based on the `c++` code
+ - Draw lines directly in `pcbnew` by using line information in `dxf`
+
+- Create a python script serving as Python API by drawing everything on `pcbnew`
+- Dependencies:
+ - ezdxf
+ - pykicad
+- Successfully import `dxf` as outlines from script
+- 
+
+### 07/18/2019
+
+- Research on pcbnew API
+ - Using package [pykicad](https://github.com/dvc94ch/pykicad)
+ - Record of Tips:
+ - Do not add segments, which will route connections
+ - Different reference name need to be set for `dsn` export
+
+ - Able to add footprint and net list into pcbnew.
+ - TODO:
+ - Import dxf as outlines from script
+ - Export board as `dsn`
+
+### 07/17/2019
+
+- Notice that even the drawings cannot be imported onto 'wiring' layer, but can be changed manually to 'wiring' layer after importing onto 'edge.cut' layer
+ - `Freerouting` does not recognize wires that does not connect to any pins as obstacles.
+ - 
+ - 
+
+- Work on script doing board design
+ - Create New Board
+ - Import DXF
+ - Load Netlist `.net` file
+ - Place modules
+ - Export to `.dsn` file
+
+### 07/16/2019
+
+- Fill and Stroke (Shift + Ctrl + F)
+- Stroke to Path
+- Union
+- Break Apart
+- Remove each outer layer (manually)
+- Export
+- 
+- 
+- 
+
+- Consider success when export for auto-routing manually. Huge challenge expected when doing it from script.
+
+- Work on script doing schematic design
+ - *Assume symbol and footprint downloaded*
+ - Package Using: [skidl](https://xesscorp.github.io/skidl/docs/_site/)
+ - Record of Tips:
+ - Add custom library path that contains all symbols of electrical devices needed (`NodeMCU`)
+ - Use attribute `footprint` to add footprint for such symbol
+ - footprint syntax: 'footprint= libname.pretty: foot_print_name
+ - footprint directory should be under the same directory where `.lib` file is.
+
+
+### 07/15/2019
+
+- 3 potential ways to solve the issue on KiCAD with internal cut
+- *Assume the position of each internal cut line is known*
+
+ - 1. Make internal cut a closed shape (original cut with thickness)
+ - Pro: Easy to import routed circuit back to dxf cutter file
+ - Con: Hard to make the cut itself a closed shape.
+
+ - 2. Make internal cut outlines a block on certain layer and treat it as obstacle in auto-router
+ - Pro: Easy to generate a block as obstacle in drawing
+ - Con: Hard to import routed circuit back to dxf cutter file
+
+ - 3. Put internal cut on different layer in KiCAD that can be read as obstacle in auto-router
+ - Best solution for now if the auto-router will be able to read single cut line, but cannot be edge.cut layer for sure, otherwise board outlines cannot be found by KiCAD.
+
+- Cut lines causing issues are marked in red.
+- 
+
+- `Inkscape` :
+ - Object stroke to path can make everything looks like a bounding box
+
+- Attempts:
+- 1. Stroke every line, auto-router shows nothing, no error
+- 
+- 
+- 2. Stroke every line, but has a larger boundary. auto-router shows nothing, error: cannot start a route inside of keepout area or boundary outlines
+- 
+- 
+- 3. Stroke every line but make the boundary outlines not closed, and draw a larger outline. Auto-router shows nothing, no error
+- 
+- 
+- 4. Stroke only outline but make the boundary outlines not closed, and draw a larger outline. Auto-router shows properly. (no way to do it from script)
+- 
+- 
+- 
+
+
+### 07/11/2019
+
+- Solved Error `unable to find segment with an endpoint`
+ - `DSN` file can only be exported for continuous closure outlines
+ - 
+
+ - Drawings like this drawing for paper cut is not acceptable for `dsn` file.
+ - Change it either to close shape or remove it when import to KiCAD
+
+- Solving Issue: `FreeRouting` is not reading edge cut layer from `dsn`
+
+ - Work well on a sample `dsn` file
+ - Issue with KiCAD output
+ - Sample KiCAD project can output outlines properly.
+
+- Issue found:
+ - KiCAD cannot take single line cut. Closed shape needed.
+
+
+
+### 07/10/2019
+
+##### Approach A
+
+
+- Import to PCBnew issue:
+ - Dimension of board outlines are incorrect
+ - Pins does not fit in original drawings
+ - (solved. Microcontroller footprint was incorrect)
+
+- pipeline confirmed:
+
+ - 1. Build symbol and footprint library for all required electrical element
+ - 2. Sketch schematic design
+ - `.sch` file
+ - 3. Place elements in required position
+ - `.dsn` file
+ - 4. Import `dsn` file into `FreeRouting` and do auto-routing
+ - `.ses` file
+ - 5. Import `ses` file back to `KiCAD` and export as `dxf` file
+ - `.dxf` file
+
+- Manually tested pipeline till step 4
+
+- Step 3
+- 
+
+- Step 4
+- 
+ - ISSUE:
+ - Board outlines are not exported correctly to `FreeRouting`
+ - Error: `unable to find segment with an endpoint`
+
+ - Record of Tips:
+ - To run `FreeRouting` from command line:
+ ~~~
+ java -jar freeRouting.jar [proj.dsn]
+ ~~~
+- TODO:
+ - Finish with testing the pipeline manually
+ - Achieve steps directly from script (Python API)
+
+### 07/09/2019
+- Finish up path-finding approach (Approach B)
+- Only draw the best path on `dxf` when solution is found for every route.
+- 
+- Throw warning once a route cannot be found
+- 
+
+- Research on Approach A
+ - KiCAD 5 does not have built-in auto-router
+ - Have to use `FreeRouting`
+
+ - `FreeRouting` does not have python API
+ - Parent package of `FreeRouting`, `LayoutEditor` has multiple editions
+ - Part of `LayoutEditor` is open- source
+ - A large amount of of its website are broken, source and interface are unavailable
+
+- Other auto-routers are not open-source
+
+##### Approach A
+- 1. Use `LayoutEditor` python API to use `FreeRouting`
+- 2. Use `KiCAD 5` python API to sue `FreeRouting`
+- 3. Use `KiCAD 4` python API to use builtin auto-routing
+
+###### 1
+- `FreeRouting` input format: `dsn`, `lef`, `def`
+- `FreeRouting` output format: `ses`, `def`
+- `FreeRouting` can take arbitrary board outlines shape
+
+- Edit `library` manually and test routing
+- 
+
+- TODO:
+ - If can run KiCAD 4 from python
+ - Check `FreeRouting` API, see if a acceptable file can be generated from things on hand
+
+
+
+### 07/08/2019 (Mon)
+
+- Debug multi-node path finding:
+ - some obstacles are ignored
+ - too close to each other
+- Able to show the learning process:
+ - Trying different combination of solving order
+ - Try to give the best order of solving multiple path
+
+##### Auto-routing learning process:
+ - 
+
+- Comparison between episodes and choose best combo of paths
+- 
+
+##### Issues and TODO
+- Path export from optimization is messed up
+- Obstacles setting are incorrect
+
+### 07/05/2019 (Fri)
+- Write out algorithm for multi-node path finding
+ - pseudo code:
+
+~~~~
+ for (episode in E):
+ set initial state s (choose first pair of nodes to connect randomly)
+ find a path
+ update map
+ while not every connection is built:
+ choose next connection
+ find a path
+ update map
+ retrieve cost (length of path)
+ update Q (as sum of all cost)
+
+~~~~
+ - Q here represents total cost of certain choice of path finding order.
+ - Cost defined by length of path
+ - If path cannot be found, cost 1000
+ - Input: NX2X2 array specifies desired pin connections
+
+
+- Research on KiCAD import needs and python API
+
+### 07/03/2019 (Wed)
+- dxf processing completed
+
+- Convert dxf to matrix with resolution (270X210) (mm)
+ - Potential issue:
+ - the `pathfinding` package is based on pixel
+ - When round up the line's start and end point, the accuracy of pin position is low
+
+- Apply single point to point path finding
+ - Able to draw the path on matrix
+ - Able to draw the path on original dxf file
+- 
+
+- TODO:
+ - Write out algorithm for multi-node path finding
+ - break single circuit trace to parallel traces
+ - solve the accuracy problem
+
+
+### 07/02/2019 (Tue)
+- Continue the dxf processing
+- Following tasks can be completed by running the code:
+ - Able to detect pin center coordinate
+ - Able to draw arbitrary shape around the pin center
+ - 
+
+- - Issue & TODO
+ - Convert dxf image to matrix
+ - Explore `pathfinding` package
+
+ - `pathfinding` package solve path finding problem by shortest path algorithm, one point to another
+ - To solve multiple nodes problem, use concept from reinforcement learning
+ - Build Q function that represents total reward of choosing certain path to be solved first
+ - Update Q function in a loop with certain amount of episodes
+ - Choose the order of solving paths randomly, and add possibility of choosing it from Q function
+ - Exploration-exploitation method
+- To solve the problem "convert dxf to matrix" for pathfinding:
+ - Have tried:
+ - Export to `png` and read file by `OpenCV`
+ - Resolution problem: single point does not represented as a pixel in `png`
+ - TODO:
+ - create an empty matrix and fill in numbers with the information of each lines' start and end point
+
+
+### 07/01/2019 (Mon)
+- Continue the dxf processing with `'graph-silhouette.dxf'`
+##### Record of tips:
+ - Put circuit design on a new layer of dxf drawing
+ - [check doc about layers here](https://ezdxf.readthedocs.io/en/latest/tutorials/layers.html)
+ - Use block feature to draw similar pattern
+ - [check doc about block here](https://ezdxf.readthedocs.io/en/latest/tutorials/blocks.html)
+ - Blocks are `symbol` in Inkscape. Convert `symbol` to `path`
+ - Edit > Clone > Unlink Clone (Shift+Alt+D), and you have a group, ungroup (Object > Ungroup, or Shift+Ctrl+G) and edit
+ - Convert `text` to `path`
+ - Path combine (Ctrl+K)
+ - msp.delete_enetity('__') to remove existing entity
+
+- Test fabrication with different drawing settings
+ - Layers can be cut separately by toggling visibility
+ - Set cuts with same `intensity` and `feedrate` on same layer
+ - Entities' layer can be changed through `Entity.dxf.layer`
+
+### 06/29 & 06/30/2019 (Sat & Sun)
+##### Approach `B`
+- Potential needed functions of packages
+
+ - A package draws on DXF file through script
+ - A script that pulls out pins' coordinate on paper chassis
+ - Or a image process package (OpenCV) that reads pins' coordinate on paper chassis
+ - A package solves multi-node path finding problem*
+
+##### Record of Research
+- Python Pathfinding package:
+ - [pathfinding](https://pypi.org/project/pathfinding/#description)
+- Python DXF editor:
+ - [ezdxf](https://pypi.org/project/ezdxf/)
+ - [dxfgrabber](https://pypi.org/project/dxfgrabber/)
+ - `Note`: able to grab simple geometry from file
+ - [sdxf](http://www.kellbot.com/sdxf-python-library-for-dxf/)
+- Going through tutorials of `ezdxf`
+ - All lines on paper space`layer0`
+
+
+### 06/28/2019 (Fri)
+##### Connection and fabrication approach confirmed !
+- Confirm that copper tape has better conductivity than aluminum sheet when attaching microcontroller pins through `H-shape` cut
+ - Copper tape is harder to be scratched, which provides less risk of disconnection during assembly.
+- Etching on copper type isolates connections
+
+- Research on PCB editor
+ - EAGLE
+ - EAGLE cannot import `.pcb` file
+ - `svg` can be exported but not imported
+ - Custom library needed if doing schematic design
+ - KiCad
+ - Can import `.pcb` file
+ - `svg` can be exported but not imported
+ - LayoutEditor
+ - support multiply file type
+ - `svg` can be exported with different color makers as multiple layers
+ - include open-sourced auto-router `freerouting`
+- Auto-routing package:
+ - TopoR
+ - Python-PCB
+ - FreeRouting
+
+
+- Approaches:
+ - `A`. convert SVG/DXF file to schematic/board design of PCB. Use KiCAD or EAGLE to do auto routing.
+ - `B`. develop algorithm on auto routing for single layer svg/dxf file. (path finding problem)
+
+
+##### Approach `A`
+- Use regular shape board for PCB in EAGLE/KiCAD
+ - image processing: divide the shape of `paperbot` to multiple rectangles (ezdxf)
+
+ - Pull required connections and place additional header pins around edges of each rectangle
+
+- Make each connection pin to be two parallel connections so auto-router does parallel trace for each wiring.
+ - Etching a pair of parallel trace provides isolation, and leave the space between traces to be conductible.
+
+- Build Library for schematic design
+ - Schematic design helps with router to know desired connection
+ - Additional header pins at each side of kink mark
+
+### 06/27/2019 (Thur)
+- Compile `OldRoCo` [repo](https://git.uclalemur.com/mehtank/oldroco)
+ - Record of modification:
+ - ++line 8 of `vstart.sh`
+ - --> `pip install -r requirements.txt --user`
+- Export `paperbot` dxf file : `graph-silhouette.dxf` to `OnShape`
+ - Record of Tips:
+ - Onshape does not read dxf file as its own saved unit. Manual settings needed when import.
+ - 
+- Draw circuit diagram as CAD on `Onshape`
+ - Multiple connection approaches:
+ - `Cross` shape of `0.039 in`
+ - `Cross` shape of `0.049 in`
+ - `Octangular` shape of `0.049 in`
+ - 
+ - 
+ - Note and issue:
+ - `Octangular` shape is the best connection approach so far, but none of approach has stable conductivity. More research is needed.
+ - Scratches can be made easily when attaching microcontroller to the sheet. Potential disconnection may occur due to such scratches on metal layer.
+- Export 2D CAD drawing with PCB to SVG for silhouette cameo
+ - Record of Tips:
+ - `OnShape` unit need to be consisted with unit setting in `Inkscape` (default: mm)
+ - Plugin `Inkscape-silhouette` cannot take multiple types of trace for cutting.
+ - Different trace (especially cut and etching) need to be sent separately. Use `coordinate tool` of `Inkscape` to ensure separated cuts have same origin.
+ - TODO:
+ - Cut and etching from same `Inkscape` file
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