OttoLegs: Legs for Otto LC
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#!/usr/bin/env python3
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# Copyright (C) 2013-2016 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 edges
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class LegEdge(edges.BaseEdge):
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def __call__(self, l, **kw):
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d0 = (l - 12.0) /2
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self.hole(l/2, 6, 3.0)
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self.polyline(d0, 90, 0, (-180, 6), 0, 90, d0)
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class OttoLegs(Boxes):
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"""Otto LC - a laser cut chassis for Otto DIY - legs"""
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ui_group = "Unstable"
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def __init__(self):
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Boxes.__init__(self)
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# Uncomment the settings for the edge types you use
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self.addSettingsArgs(edges.FingerJointSettings)
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# remove cli params you do not need
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#self.buildArgParser("x", "sx", "y", "sy", "h", "hi")
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# Add non default cli params if needed (see argparse std lib)
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#self.argparser.add_argument(
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# "--XX", action="store", type=float, default=0.5,
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# help="DESCRIPTION")
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def foot(self, x, y, ly, l, r=5., move=None):
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if self.move(x, y, move, True):
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return
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t = self.thickness
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w = ly + 5.5 + 2 * t
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self.fingerHolesAt(x/2 - w/2, 0, l, 90)
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self.fingerHolesAt(x/2 + w/2, 0, l, 90)
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self.moveTo(r, 0)
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for l in (x, y, x, y):
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self.polyline(l - 2*r, 45, r*2**0.5, 45)
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self.move(x, y, move)
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def ankle1(self):
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# from vertical edge
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self.hole(15, 10, 2.3) # 3.45 for servo arm
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def ankle2(self):
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# from vertical edge
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self.hole(15, 10, 1.5)
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def servoHole(self):
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self.hole(6, 6, 11.6/2)
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self.hole(6, 12, 5.5/2)
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def render(self):
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# adjust to the variables you want in the local scope
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t = self.thickness
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# Initialize canvas
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self.open()
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lx, ly, lh = 12.4, 22.5, 40.0
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self.ctx.save()
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# Legs
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c1 = edges.CompoundEdge(self, "EF", (6.0, lh-6.0))
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e = ["F", c1, "F", "F"]
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self.rectangularWall(lx, lh-6., [LegEdge(self, None), "f", "F", "f"], move="right")
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self.rectangularWall(lx, lh, "FfFf", callback=[
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lambda:self.hole(6, 6, 1.5)], move="right")
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self.rectangularWall(ly, lh, e, move="right")
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self.rectangularWall(ly, lh, e, move="right")
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self.rectangularWall(lx, ly, "Efff", callback=[
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lambda:self.rectangularHole(6.1, 6.35, 12, 2.4), None,
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lambda:self.rectangularHole(4, 8, 8, 2.)], move="right")
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self.rectangularWall(lx, ly, "ffff", callback=[lambda: self.hole(lx/2, ly/2, 2.3)], move="right")
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self.rectangularWall(lx, ly, "eeee", callback=[lambda: self.hole(lx/2, ly/2, 1.5)], move="right")
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self.ctx.restore()
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self.rectangularWall(lx, lh, "ffff", move="up only")
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# feet
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self.rectangularTriangle(30, 25, "fee", r=20, num=4, callback=[None, self.ankle1], move="right")
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self.rectangularTriangle(30, 25, "fee", r=20, num=4, callback=[None, self.ankle2], move="right")
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self.foot(60, 40, ly, 30, move="right")
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self.foot(60, 40, ly, 30, move="right")
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self.close()
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def main():
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b = OttoLegs()
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b.parseArgs()
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b.render()
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if __name__ == '__main__':
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main()
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