import boxes
__all__ = [
"RobotArg",
"RobotArmMM",
"RobotArmMm",
"RobotArmUU",
"RobotArmUu",
"RobotArmMu",
]
class RobotArg:
def __init__(self, includenone=False):
self.robotarms = [
(name, globals()[name].__doc__[23:]) for name in __all__
if name.startswith("RobotArm")]
if includenone:
self.robotarms[0:0] = [("none", "")]
def __call__(self, arg):
return str(arg)
def choices(self):
return [name for name, descr in self.robotarms]
def html(self, name, default):
options = "\n".join(
("""""" %
(name, ' selected="selected"' if name == default else "",
name, descr) for name, descr in self.robotarms))
return """\n""" % (name, options)
class _RobotArm:
def __init__(self, boxes, servo, servo2=None):
self.boxes = boxes
self.servo = servo
self.servo2 = servo2 or servo
def __getattr__(self, name):
"""Hack for easy access of Boxes methods"""
return getattr(self.boxes, name)
class RobotArmMM(_RobotArm):
"""Robot arm segment with two parallel servos"""
def __call__(self, length, move=None):
t = self.thickness
w = self.servo.height
l = max(self.servo.length * 2, length + 2*self.servo.axle_pos)
th = max(2 * t + l, 2*w + 4*t + self.spacing)
tw = 5 * (w + 2*self.thickness + self.spacing)
if self.move(tw, th, move, True):
return
self.rectangularWall(w, l, "FfFf", callback=[
lambda:self.servo.top(w/2), None,
lambda:self.servo.top(w/2)], move="right")
self.rectangularWall(w, l, "FfFf", callback=[
lambda:self.servo.bottom(w/2), None,
lambda:self.servo.bottom(w/2)], move="right")
self.rectangularWall(w, l, "FFFF", move="right")
self.rectangularWall(w, l, "FFFF", move="right")
self.rectangularWall(w, w, "ffff", callback=[
lambda:self.servo.front(w/2)], move="up")
self.rectangularWall(w, w, "ffff", callback=[
lambda:self.servo.front(w/2)], move="")
self.move(tw, th, move)
class RobotArmMm(_RobotArm):
"""Robot arm segment with two orthogonal servos"""
def __call__(self, length, move=None):
t = self.thickness
w = self.servo.height
w2 = self.servo2.height
l = max(self.servo.length * 2, length + 2*self.servo.axle_pos)
th = max(2 * self.thickness + l, w + w2 + 4*t + self.spacing)
tw = 5 * (max(w, w2) + 2*self.thickness + self.spacing)
if self.move(tw, th, move, True):
return
self.rectangularWall(w2, l, "FfFf", callback=[
lambda:self.servo.top(w2/2)], move="right")
self.rectangularWall(w2, l, "FfFf", callback=[
lambda:self.servo.bottom(w2/2)], move="right")
self.rectangularWall(w, l, "FFFF", callback=[
None, None, lambda:self.servo2.top(w/2)], move="right")
self.rectangularWall(w, l, "FFFF", callback=[
None, None, lambda:self.servo2.bottom(w/2)], move="right")
self.rectangularWall(w2, w, "ffff", callback=[
lambda:self.servo.front(w2/2)], move="up")
self.rectangularWall(w, w2, "ffff", callback=[
lambda:self.servo2.front(w/2)], move="")
self.move(tw, th, move)
class RobotArmUU(_RobotArm):
"""Robot arm segment with two parallel sets of hinge knuckles"""
def __call__(self, length, move=None):
t = self.thickness
w = self.servo.hinge_width()
l = max(4*self.thickness, length - 2*t - 2*self.servo.height)
th = max(2 * self.servo._edges["m"].spacing() + l,
2*w + 4*t + self.spacing)
tw = 5 * (w + 2*self.thickness + self.spacing)
if self.move(tw, th, move, True):
return
iw = (0, 3, 4, 7)
e = self.servo.edges
self.rectangularWall(w, l, e("mFmF"), ignore_widths=iw, move="right")
self.rectangularWall(w, l, e("MFMF"), ignore_widths=iw, move="right")
self.rectangularWall(w, l, "FfFf", move="right")
self.rectangularWall(w, l, "FfFf", move="right")
self.rectangularWall(w, w, "ffff", callback=[
lambda: self.hole(w/2, w/2, 6)], move="up")
self.rectangularWall(w, w, "ffff", callback=[
lambda: self.hole(w/2, w/2, 6)], move="")
self.move(tw, th, move)
class RobotArmUu(_RobotArm):
"""Robot arm segment with two orthogonal sets of hinge knuckles"""
def __call__(self, length, move=None):
t = self.thickness
w = self.servo.hinge_width()
w2 = self.servo2.hinge_width()
l = max(4*self.thickness, length - 2*t - 2*self.servo.height)
th = max(self.thickness + self.servo._edges["m"].spacing() + l,
2*w + self.thickness + 4 * self.edges["f"].spacing())
tw = 5 * (w + 2*self.thickness + self.spacing)
if self.move(tw, th, move, True):
return
iw = (3, 4)
e = self.servo.edges
self.rectangularWall(w2, l, e("nfFf"), move="right")
self.rectangularWall(w2, l, e("NfFf"), move="right")
self.rectangularWall(w, l, e("FFmF"), ignore_widths=iw, move="right")
self.rectangularWall(w, l, e("FFMF"), ignore_widths=iw, move="right")
self.rectangularWall(w2, w, "ffff", callback=[
lambda: self.hole(w2/2, w/2, 6)], move="up")
self.rectangularWall(w2, w, "ffff", callback=[
lambda: self.hole(w2/2, w/2, 6)], move="")
self.move(tw, th, move)
class RobotArmMu(_RobotArm):
"""Robot arm segment with a servo and an orthogonal sets of hinge knuckles"""
def __call__(self, length, move=None):
t = self.thickness
w = self.servo.height
w2 = self.servo2.hinge_width()
l = max(self.servo.length, length + self.servo.axle_pos - self.servo.height - t)
th = max(t + l + self.servo2._edges["m"].spacing(),
w + w2 + self.thickness + 4 * self.edges["f"].spacing())
tw = 5 * (w + 2*self.thickness + self.spacing)
if self.move(tw, th, move, True):
return
e = self.servo2.edges
iw = (3, 4)
self.rectangularWall(w2, l, "FfFf", callback=[
lambda:self.servo.top(w2/2)], move="right")
self.rectangularWall(w2, l, "FfFf", callback=[
lambda:self.servo.bottom(w2/2)], move="right")
self.rectangularWall(w, l, e("FFmF"), ignore_widths=iw, move="right")
self.rectangularWall(w, l, e("FFMF"), ignore_widths=iw, move="right")
self.rectangularWall(w2, w, "ffff", callback=[
lambda:self.servo.front(w2/2)], move="up")
self.rectangularWall(w2, w, "ffff", callback=[
lambda: self.hole(w2/2, w/2, 6)], move="")
self.move(tw, th, move)
# class RobotArmMU(_RobotArm):