Robot parts: Initial commit
This commit is contained in:
Florian Festi
parent
1bed3f2a39
commit
40d53ac1ba
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import boxes
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__all__ = [
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"RobotArg",
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"RobotArmMM",
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"RobotArmMm",
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"RobotArmUU",
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"RobotArmUu",
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"RobotArmMu",
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]
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class RobotArg:
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def __init__(self, includenone=False):
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self.robotarms = [
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(name, globals()[name].__doc__[23:]) for name in __all__
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if name.startswith("RobotArm")]
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if includenone:
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self.robotarms[0:0] = [("none", "")]
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def __call__(self, arg):
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return str(arg)
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def choices(self):
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return [name for name, descr in self.robotarms]
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def html(self, name, default):
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options = "\n".join(
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("""<option value="%s"%s>%s %s</option>""" %
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(name, ' selected="selected"' if name == default else "",
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name, descr) for name, descr in self.robotarms))
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return """<select name="%s" size="1">\n%s</select>\n""" % (name, options)
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class _RobotArm:
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def __init__(self, boxes, servo, servo2=None):
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self.boxes = boxes
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self.servo = servo
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self.servo2 = servo2 or servo
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def __getattr__(self, name):
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"""Hack for easy access of Boxes methods"""
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return getattr(self.boxes, name)
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class RobotArmMM(_RobotArm):
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"""Robot arm segment with two parallel servos"""
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def __call__(self, length, move=None):
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t = self.thickness
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w = self.servo.height
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l = max(self.servo.length * 2, length + 2*self.servo.axle_pos)
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th = max(2 * t + l, 2*w + 4*t + self.spacing)
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tw = 5 * (w + 2*self.thickness + self.spacing)
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if self.move(tw, th, move, True):
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return
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self.rectangularWall(w, l, "FfFf", callback=[
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lambda:self.servo.top(w/2), None,
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lambda:self.servo.top(w/2)], move="right")
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self.rectangularWall(w, l, "FfFf", callback=[
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lambda:self.servo.bottom(w/2), None,
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lambda:self.servo.bottom(w/2)], move="right")
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self.rectangularWall(w, l, "FFFF", move="right")
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self.rectangularWall(w, l, "FFFF", move="right")
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self.rectangularWall(w, w, "ffff", callback=[
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lambda:self.servo.front(w/2)], move="up")
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self.rectangularWall(w, w, "ffff", callback=[
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lambda:self.servo.front(w/2)], move="")
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self.move(tw, th, move)
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class RobotArmMm(_RobotArm):
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"""Robot arm segment with two orthogonal servos"""
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def __call__(self, length, move=None):
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t = self.thickness
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w = self.servo.height
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w2 = self.servo2.height
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l = max(self.servo.length * 2, length + 2*self.servo.axle_pos)
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th = max(2 * self.thickness + l, w + w2 + 4*t + self.spacing)
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tw = 5 * (max(w, w2) + 2*self.thickness + self.spacing)
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if self.move(tw, th, move, True):
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return
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self.rectangularWall(w2, l, "FfFf", callback=[
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lambda:self.servo.top(w2/2)], move="right")
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self.rectangularWall(w2, l, "FfFf", callback=[
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lambda:self.servo.bottom(w2/2)], move="right")
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self.rectangularWall(w, l, "FFFF", callback=[
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None, None, lambda:self.servo2.top(w/2)], move="right")
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self.rectangularWall(w, l, "FFFF", callback=[
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None, None, lambda:self.servo2.bottom(w/2)], move="right")
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self.rectangularWall(w2, w, "ffff", callback=[
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lambda:self.servo.front(w2/2)], move="up")
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self.rectangularWall(w, w2, "ffff", callback=[
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lambda:self.servo2.front(w/2)], move="")
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self.move(tw, th, move)
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class RobotArmUU(_RobotArm):
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"""Robot arm segment with two parallel sets of hinge knuckles"""
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def __call__(self, length, move=None):
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t = self.thickness
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w = self.servo.hinge_width()
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l = max(4*self.thickness, length - 2*t - 2*self.servo.height)
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th = max(2 * self.servo._edges["m"].spacing() + l,
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2*w + 4*t + self.spacing)
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tw = 5 * (w + 2*self.thickness + self.spacing)
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if self.move(tw, th, move, True):
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return
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iw = (0, 3, 4, 7)
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e = self.servo.edges
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self.rectangularWall(w, l, e("mFmF"), ignore_widths=iw, move="right")
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self.rectangularWall(w, l, e("MFMF"), ignore_widths=iw, move="right")
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self.rectangularWall(w, l, "FfFf", move="right")
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self.rectangularWall(w, l, "FfFf", move="right")
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self.rectangularWall(w, w, "ffff", callback=[
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lambda: self.hole(w/2, w/2, 6)], move="up")
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self.rectangularWall(w, w, "ffff", callback=[
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lambda: self.hole(w/2, w/2, 6)], move="")
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self.move(tw, th, move)
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class RobotArmUu(_RobotArm):
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"""Robot arm segment with two orthogonal sets of hinge knuckles"""
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def __call__(self, length, move=None):
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t = self.thickness
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w = self.servo.hinge_width()
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w2 = self.servo2.hinge_width()
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l = max(4*self.thickness, length - 2*t - 2*self.servo.height)
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th = max(self.thickness + self.servo._edges["m"].spacing() + l,
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2*w + self.thickness + 4 * self.edges["f"].spacing())
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tw = 5 * (w + 2*self.thickness + self.spacing)
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if self.move(tw, th, move, True):
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return
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iw = (3, 4)
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e = self.servo.edges
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self.rectangularWall(w2, l, e("nfFf"), move="right")
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self.rectangularWall(w2, l, e("NfFf"), move="right")
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self.rectangularWall(w, l, e("FFmF"), ignore_widths=iw, move="right")
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self.rectangularWall(w, l, e("FFMF"), ignore_widths=iw, move="right")
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self.rectangularWall(w2, w, "ffff", callback=[
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lambda: self.hole(w2/2, w/2, 6)], move="up")
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self.rectangularWall(w2, w, "ffff", callback=[
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lambda: self.hole(w2/2, w/2, 6)], move="")
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self.move(tw, th, move)
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class RobotArmMu(_RobotArm):
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"""Robot arm segment with a servo and an orthogonal sets of hinge knuckles"""
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def __call__(self, length, move=None):
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t = self.thickness
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w = self.servo.height
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w2 = self.servo2.hinge_width()
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l = max(self.servo.length, length + self.servo.axle_pos - self.servo.height - t)
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th = max(t + l + self.servo2._edges["m"].spacing(),
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w + w2 + self.thickness + 4 * self.edges["f"].spacing())
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tw = 5 * (w + 2*self.thickness + self.spacing)
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if self.move(tw, th, move, True):
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return
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e = self.servo2.edges
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iw = (3, 4)
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self.rectangularWall(w2, l, "FfFf", callback=[
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lambda:self.servo.top(w2/2)], move="right")
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self.rectangularWall(w2, l, "FfFf", callback=[
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lambda:self.servo.bottom(w2/2)], move="right")
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self.rectangularWall(w, l, e("FFmF"), ignore_widths=iw, move="right")
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self.rectangularWall(w, l, e("FFMF"), ignore_widths=iw, move="right")
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self.rectangularWall(w2, w, "ffff", callback=[
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lambda:self.servo.front(w2/2)], move="up")
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self.rectangularWall(w2, w, "ffff", callback=[
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lambda: self.hole(w2/2, w/2, 6)], move="")
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self.move(tw, th, move)
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# class RobotArmMU(_RobotArm):
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@ -0,0 +1,120 @@
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import boxes.vectors
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import math
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class EyeEdge(boxes.edges.FingerHoleEdge):
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char = "m"
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def __init__(self, boxes, servo, fingerHoles=None, driven=False,
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outset=False, **kw):
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self.servo = servo
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self.outset = outset
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self.driven = driven
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super(EyeEdge, self).__init__(boxes, fingerHoles, **kw)
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def __call__(self, length, bedBolts=None, bedBoltSettings=None, **kw):
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t = self.fingerHoles.settings.thickness
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dist = self.fingerHoles.settings.edge_width
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pos_axle = self.servo.hinge_depth()
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self.ctx.save()
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self.hole(length/2.0, -pos_axle,
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self.servo.axle/2.0 if self.driven else
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self.servo.servo_axle/2.0)
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if self.outset:
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self.fingerHoles(t, self.thickness / 2, length-2*t, 0)
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else:
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self.fingerHoles(0, self.thickness / 2, length, 0)
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self.ctx.restore()
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r = self.servo.servo_axle * 2
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a, l = boxes.vectors.tangent(length/2, pos_axle, r)
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angle = math.degrees(a)
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self.polyline(0, -angle, l, (2*angle, r), l, -angle, 0)
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def startwidth(self):
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return self.fingerHoles.settings.thickness
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def margin(self):
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return self.servo.hinge_depth() + self.fingerHoles.settings.thickness + self.servo.servo_axle * 2
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def buildEdges(boxes, servo, chars="mMnN"):
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result = {}
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for n, char in enumerate(chars):
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e = EyeEdge(boxes, servo, outset=(n<2), driven=(n % 2))
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e.char = char
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result[char] = e
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return result
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class ServoArg:
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def __init__(self, includenone=False):
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self.servos = ["Servo9g"]
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if includenone:
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self.robotarms[0:0] = ["none"]
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def __call__(self, arg):
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return str(arg)
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def choices(self):
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return [name for name, descr in self.robotarms]
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def html(self, name, default):
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options = "\n".join(
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("""<option value="%s"%s>%s</option>""" %
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(name, ' selected="selected"' if name == default else "",
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name) for name in self.servos))
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return """<select name="%s" size="1">\n%s</select>\n""" % (name, options)
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class Servo:
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def __init__(self, boxes, axle=3):
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self.boxes = boxes
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self.axle = axle
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self._edges = buildEdges(boxes, self)
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def edges(self, edges):
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return [self._edges.get(e, e) for e in edges]
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class Servo9g(Servo):
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height = 22.5
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length = 28.0 # one tab in the wall
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width = 12.0
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axle_pos = 6.0
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servo_axle = 4.6 # 6.9 for servo arm
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def top(self, x=0.0, y=0.0, angle=90.0):
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self.boxes.moveTo(x, y, angle)
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self.boxes.hole(6, 0, 6)
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self.boxes.hole(12, 0, 3)
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def bottom(self, x=0.0, y=0.0, angle=90.0):
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self.boxes.moveTo(x, y, angle)
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self.boxes.hole(6, 0, self.axle/2.0)
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def front(self, x=0.0, y=0.0, angle=90.0):
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self.boxes.moveTo(x, y, angle)
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self.boxes.rectangularHole(5.4, 0, 2.4, 12)
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self.boxes.rectangularHole(17, 0, 4, 16)
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def hinge_width(self):
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return self.height + self.boxes.thickness + 4.5
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def hinge_depth(self):
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return self.height # XXX
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class Servo9gt(Servo9g):
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height = 35
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def top(self, x=0.0, y=0.0, angle=90.0):
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self.boxes.moveTo(x, y, angle)
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self.boxes.hole(6, 0, 6)
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self.boxes.hole(12, 0, 5)
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def bottom(self, x=0.0, y=0.0, angle=90.0):
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self.boxes.moveTo(x, y, angle)
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self.boxes.hole(6, 0, self.axle)
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def front(self, x=0.0, y=0.0, angle=90.0):
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self.boxes.moveTo(x, y, angle)
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self.boxes.rectangularHole(5.4, 0, 2.4, 12)
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