From 1b3f9dbc3af30f4213e8ad0d56883dea2de53a92 Mon Sep 17 00:00:00 2001
From: Florian Festi <florian@festi.info>
Date: Fri, 17 Feb 2017 23:40:46 +0100
Subject: [PATCH] Robotarm: Generator for servo powered robot arm segments

---
 boxes/generators/robotarm.py | 69 ++++++++++++++++++++++++++++++++++++
 1 file changed, 69 insertions(+)
 create mode 100644 boxes/generators/robotarm.py

diff --git a/boxes/generators/robotarm.py b/boxes/generators/robotarm.py
new file mode 100644
index 0000000..cba3dfb
--- /dev/null
+++ b/boxes/generators/robotarm.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+# Copyright (C) 2017 Florian Festi
+#
+#   This program is free software: you can redistribute it and/or modify
+#   it under the terms of the GNU General Public License as published by
+#   the Free Software Foundation, either version 3 of the License, or
+#   (at your option) any later version.
+#
+#   This program is distributed in the hope that it will be useful,
+#   but WITHOUT ANY WARRANTY; without even the implied warranty of
+#   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#   GNU General Public License for more details.
+#
+#   You should have received a copy of the GNU General Public License
+#   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+from boxes import *
+from boxes import robot, servos
+
+class RobotArm(Boxes): # change class name here and below
+    """Segments of servo powered robot arm"""
+
+    ui_group = "Part"
+    
+    def __init__(self):
+        Boxes.__init__(self)
+
+        self.addSettingsArgs(edges.FingerJointSettings)
+        for i in range(1, 6):
+            ra = robot.RobotArg(True)
+            sa = servos.ServoArg()
+            self.argparser.add_argument(
+                "--type%i" % i,  action="store", type=ra,
+                default="none", choices=ra.choices(),
+                help="type of arm segment")
+            self.argparser.add_argument(
+                "--servo%ia" % i,  action="store", type=sa, default="Servo9g",
+                help="type of servo to use")
+            self.argparser.add_argument(
+                "--servo%ib" % i,  action="store", type=sa, default="Servo9g",
+                help="type of servo to use on second side (if different is supported)")
+            self.argparser.add_argument(
+                "--length%i" % i,  action="store", type=float, default=50.,
+                help="length of segment axle to axle")
+
+    def render(self):
+        # Initialize canvas
+        self.open()
+
+        for i in range(5, 0,-1):
+            armtype = getattr(self, "type%i" % i)
+            length = getattr(self, "length%i" % i)
+            servoA = getattr(self, "servo%ia" % i)
+            servoB = getattr(self, "servo%ib" % i)
+            armcls = getattr(robot, armtype, None)
+            if not armcls:
+                continue
+            servoClsA = getattr(servos, servoA)
+            servoClsB = getattr(servos, servoB)
+            armcls(self, servoClsA(self), servoClsB(self))(length, move="up")
+        self.close()
+
+def main():
+    b = RobotArm()
+    b.parseArgs()
+    b.render()
+
+if __name__ == '__main__':
+    main()