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OttoLegs: Use servo horn for actuating the ankles

This commit is contained in:
Florian Festi 2017-08-12 00:07:34 +02:00
parent 4dd271df74
commit 398851255d
1 changed files with 10 additions and 3 deletions
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13
boxes/generators/ottolegs.py
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@ -59,7 +59,7 @@ class OttoLegs(Boxes):
self.move(x, y, move) self.move(x, y, move)
def ankles(self, x, h, callback=None, move=None): def ankles(self, x, h, edge="f", callback=None, move=None):
f = 0.5 f = 0.5
tw = x tw = x
@ -71,7 +71,7 @@ class OttoLegs(Boxes):
self.moveTo(0, self.thickness) self.moveTo(0, self.thickness)
for i in range(2): for i in range(2):
self.cc(callback, 0) self.cc(callback, 0)
self.edges["f"](x) self.edges[edge](x)
self.polyline(0, 90) self.polyline(0, 90)
self.cc(callback, 1) self.cc(callback, 1)
self.polyline(h, 90, f*x, 45, (2**0.5)*(1-f)*x, 45, h-(1-f)*x, 90) self.polyline(h, 90, f*x, 45, (2**0.5)*(1-f)*x, 45, h-(1-f)*x, 90)
@ -81,7 +81,13 @@ class OttoLegs(Boxes):
def ankle1(self): def ankle1(self):
# from vertical edge # from vertical edge
self.hole(15, 10, 2.3) # 3.45 for servo arm self.hole(15, 10, 3.45) # 3.45 for servo arm, 2.3 for knob
def ankle11(self):
# from vertical edge
self.moveTo(15, 10, 90-3)
self.moveTo(3.45, 0, -90)
self.polyline(0, (-264, 3.45), 0, 36, 12, (-174, 2), 12)
def ankle2(self): def ankle2(self):
# from vertical edge # from vertical edge
@ -138,6 +144,7 @@ class OttoLegs(Boxes):
self.foot(60, 40, ly, 30, move="right") self.foot(60, 40, ly, 30, move="right")
self.foot(60, 40, ly, 30, move="right") self.foot(60, 40, ly, 30, move="right")
self.ankles(30, 20, callback=[None, self.ankle1], move="right") self.ankles(30, 20, callback=[None, self.ankle1], move="right")
self.ankles(30, 20, "e", callback=[None, self.ankle11], move="right")
self.ankles(30, 20, callback=[None, self.ankle2], move="right") self.ankles(30, 20, callback=[None, self.ankle2], move="right")
self.close() self.close()