2017-02-17 23:40:46 +01:00
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#!/usr/bin/env python3
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# Copyright (C) 2017 Florian Festi
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <http://www.gnu.org/licenses/>.
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from boxes import *
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from boxes import robot, servos
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class RobotArm(Boxes): # change class name here and below
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"""Segments of servo powered robot arm"""
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ui_group = "Part"
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def __init__(self):
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Boxes.__init__(self)
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self.addSettingsArgs(edges.FingerJointSettings)
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for i in range(1, 6):
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ra = robot.RobotArg(True)
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sa = servos.ServoArg()
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self.argparser.add_argument(
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"--type%i" % i, action="store", type=ra,
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default="none", choices=ra.choices(),
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help="type of arm segment")
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self.argparser.add_argument(
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"--servo%ia" % i, action="store", type=sa, default="Servo9g",
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2017-02-25 19:59:16 +01:00
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choices=sa.choices(), help="type of servo to use")
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2017-02-17 23:40:46 +01:00
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self.argparser.add_argument(
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"--servo%ib" % i, action="store", type=sa, default="Servo9g",
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2017-02-25 19:59:16 +01:00
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choices=sa.choices(), help="type of servo to use on second side (if different is supported)")
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2017-02-17 23:40:46 +01:00
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self.argparser.add_argument(
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"--length%i" % i, action="store", type=float, default=50.,
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help="length of segment axle to axle")
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def render(self):
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for i in range(5, 0,-1):
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armtype = getattr(self, "type%i" % i)
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length = getattr(self, "length%i" % i)
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servoA = getattr(self, "servo%ia" % i)
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servoB = getattr(self, "servo%ib" % i)
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armcls = getattr(robot, armtype, None)
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if not armcls:
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continue
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servoClsA = getattr(servos, servoA)
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servoClsB = getattr(servos, servoB)
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armcls(self, servoClsA(self), servoClsB(self))(length, move="up")
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