186 lines
6.9 KiB
Python
186 lines
6.9 KiB
Python
__all__ = [
|
|
"RobotArg",
|
|
"RobotArmMM",
|
|
"RobotArmMm",
|
|
"RobotArmUU",
|
|
"RobotArmUu",
|
|
"RobotArmMu",
|
|
]
|
|
|
|
class RobotArg:
|
|
|
|
def __init__(self, includenone=False) -> None:
|
|
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, translate):
|
|
options = "\n".join(
|
|
("""<option value="%s"%s>%s %s</option>""" %
|
|
(name, ' selected="selected"' if name == default else "",
|
|
name, descr) for name, descr in self.robotarms))
|
|
return """<select name="%s" size="1">\n%s</select>\n""" % (name, options)
|
|
|
|
|
|
class _RobotArm:
|
|
|
|
def __init__(self, boxes, servo, servo2=None) -> 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):
|