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OttoLegs: wall for better fixating the servos

This commit is contained in:
Florian Festi 2017-03-05 16:08:11 +01:00
parent 6bc695a418
commit 271bed0308
1 changed files with 27 additions and 5 deletions
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32
boxes/generators/ottolegs.py
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@ -32,7 +32,8 @@ class OttoLegs(Boxes):
def __init__(self): def __init__(self):
Boxes.__init__(self) Boxes.__init__(self)
self.addSettingsArgs(edges.FingerJointSettings) self.addSettingsArgs(edges.FingerJointSettings, finger=1.0, space=1.0,
surroundingspaces=1.0)
def foot(self, x, y, ly, l, r=5., move=None): def foot(self, x, y, ly, l, r=5., move=None):
if self.move(x, y, move, True): if self.move(x, y, move, True):
@ -67,7 +68,7 @@ class OttoLegs(Boxes):
# Initialize canvas # Initialize canvas
self.open() self.open()
lx, ly, lh = 12.4, 23.5, 40.0 lx, ly, lh = 12.4, 23.5, 37.0
self.ctx.save() self.ctx.save()
# Legs # Legs
@ -75,27 +76,48 @@ class OttoLegs(Boxes):
c1 = edges.CompoundEdge(self, "FE", (ly-7.0, 7.0)) c1 = edges.CompoundEdge(self, "FE", (ly-7.0, 7.0))
c2 = edges.CompoundEdge(self, "EF", (8.0, lh-8.0)) c2 = edges.CompoundEdge(self, "EF", (8.0, lh-8.0))
e = [c1, c2, "F", "F"] e = [c1, c2, "F", "F"]
ws = 25
for i in range(2): for i in range(2):
self.rectangularWall(lx, lh-8., [LegEdge(self, None), "f", "F", "f"], move="right") # front
self.rectangularWall(lx, lh-8., [LegEdge(self, None), "f", "F", "f"], callback=[None, lambda:self.fingerHolesAt(ws-8., 0, lx)], move="right")
# back
self.rectangularWall(lx, lh, "FfFf", callback=[ self.rectangularWall(lx, lh, "FfFf", callback=[
lambda:self.hole(6, 8, 1.5)], move="right") lambda:self.hole(6, 8, 1.5)], move="right")
self.rectangularWall(ly, lh, e, move="right") # sides
self.rectangularWall(ly, lh, e, callback=[None,
lambda:self.fingerHolesAt(ws, 7.0, ly-7.0)], move="right")
self.rectangularWall(ly, lh, e, callback=[ self.rectangularWall(ly, lh, e, callback=[
lambda:self.hole(ly/2, 32, 5)], move="right") lambda:self.rectangularHole(ly/2, lh-7, 12, 6, 3),
lambda:self.fingerHolesAt(ws, 7.0, ly-7.0)], move="right")
# top
self.rectangularWall(ly, lx, "ffff", callback=[None, lambda: self.hole(lx/2, ly/2, 2.3)], move="up") self.rectangularWall(ly, lx, "ffff", callback=[None, lambda: self.hole(lx/2, ly/2, 2.3)], move="up")
self.rectangularWall(ly, lx, "ffff", callback=[None, lambda: self.hole(lx/2, ly/2, 2.3)], move="") self.rectangularWall(ly, lx, "ffff", callback=[None, lambda: self.hole(lx/2, ly/2, 2.3)], move="")
self.rectangularWall(ly, lx, "ffff", callback=[None, lambda: self.hole(lx/2, ly/2, 2.3)], move="down right only") self.rectangularWall(ly, lx, "ffff", callback=[None, lambda: self.hole(lx/2, ly/2, 2.3)], move="down right only")
# hold servo at the front
self.rectangularWall(5.15, lx, "efee", move="up")
self.rectangularWall(5.15, lx, "efee", move="")
self.rectangularWall(5.15, lx, "efee", move="down right only")
# strengthen top
self.rectangularWall(lx, ly, "eeee", callback=[lambda: self.hole(lx/2, ly/2, 1.5)], move="up") self.rectangularWall(lx, ly, "eeee", callback=[lambda: self.hole(lx/2, ly/2, 1.5)], move="up")
self.rectangularWall(lx, ly, "eeee", callback=[lambda: self.hole(lx/2, ly/2, 1.5)], move="") self.rectangularWall(lx, ly, "eeee", callback=[lambda: self.hole(lx/2, ly/2, 1.5)], move="")
self.rectangularWall(lx, ly, "eeee", callback=[lambda: self.hole(lx/2, ly/2, 1.5)], move="down right only") self.rectangularWall(lx, ly, "eeee", callback=[lambda: self.hole(lx/2, ly/2, 1.5)], move="down right only")
# hold servo bottom
self.rectangularWall(lx, ly-7.0, "efff", move="up") self.rectangularWall(lx, ly-7.0, "efff", move="up")
self.rectangularWall(lx, ly-7.0, "efff", move="") self.rectangularWall(lx, ly-7.0, "efff", move="")
self.rectangularWall(lx, ly-7.0, "efff", move="down right only") self.rectangularWall(lx, ly-7.0, "efff", move="down right only")
# hold servo inside
self.rectangularWall(lx, ly-7.0, "efef", callback=[
lambda:self.rectangularHole(lx/2, 2, 5, 4)], move="up")
self.rectangularWall(lx, ly-7.0, "efef", callback=[
lambda:self.rectangularHole(lx/2, 2, 5, 4)], move="")
self.rectangularWall(lx, ly-7.0, "efef", move="down right only")
self.ctx.restore() self.ctx.restore()
self.rectangularWall(lx, lh, "ffff", move="up only") self.rectangularWall(lx, lh, "ffff", move="up only")