380 lines
18 KiB
Python
380 lines
18 KiB
Python
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# -*- coding: utf-8 -*-
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# Copyright (C) 2018 Michael Matthews
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#
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# This file is part of CutCraft.
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#
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# CutCraft 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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# CutCraft 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 CutCraft. If not, see <http://www.gnu.org/licenses/>.
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from ..core.point import Point
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from ..core.part import Part
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from ..core.trace import Trace
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from ..core.circle import Circle
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from ..core.fingerjoint import FingerJoint
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from ..core.neopixel import NeoPixel
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from .platform import Platform
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from ..util import intersection
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from math import pi, sqrt, asin, atan
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#import inkex
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class RollerFrame(Platform):
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""" RollerBot Platform. """
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def __init__(self, supwidth, wheelradius, upperradius, lowerradius,
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facesize, barsize, primarygapwidth, secondarygapwidth,
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scale, part_id, thickness=0.0):
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super(RollerFrame, self).__init__(thickness)
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self.supwidth = supwidth
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self.barsize = barsize
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cutdepth = supwidth / 3.0
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barradius = sqrt(2.0*(barsize/2.0)**2)
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facewidth = primarygapwidth*2.0 + thickness*3.0
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faceheight = facesize + thickness
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fjoint = FingerJoint(faceheight, thickness*2.0, 'height', thickness=thickness) # Face
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bjoint = FingerJoint(faceheight, thickness*2.0, 'depth', thickness=thickness) # Base
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wjoint = FingerJoint(facewidth, thickness*2.0, 'width', thickness=thickness) # Length
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if part_id<5:
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# The circular segments for the main body structure.
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# Outer section.
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x = barsize/2.0
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y = sqrt(lowerradius**2 - x**2)
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a = atan(x/y)
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outer = Circle(upperradius, 72, 5, cutdepth=cutdepth, start=0.0, end=pi, thickness=thickness) + \
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Point(0.0, -upperradius + cutdepth) + \
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Point(-thickness, -upperradius + cutdepth) + \
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Point(-thickness, -upperradius) + \
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Point(-barsize/2.0, -upperradius) + \
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Circle(lowerradius, 72, 4, cutdepth=cutdepth, start=pi+a, end=pi*2-a, thickness=thickness) + \
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Point(-barsize/2.0, upperradius) + \
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Point(-thickness, upperradius) + \
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Point(-thickness, upperradius - cutdepth) + \
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Point(0.0, upperradius - cutdepth)
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outer.close()
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self.traces.append(outer)
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if part_id in (0,4):
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# Central Motor Position.
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inner = Trace() + \
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Point(-barsize/2.0, -barsize/2.0) + \
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Point(-barsize/2.0, barsize/2.0) + \
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Point(-barsize/6.0, barsize/2.0) + \
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Point(-barsize/6.0, barsize/2.0-thickness/2.0) + \
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Point(barsize/6.0, barsize/2.0-thickness/2.0) + \
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Point(barsize/6.0, barsize/2.0) + \
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Point(barsize/2.0, barsize/2.0) + \
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Point(barsize/2.0, -barsize/2.0) + \
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Point(barsize/6.0, -barsize/2.0) + \
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Point(barsize/6.0, -barsize/2.0+thickness/2.0) + \
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Point(-barsize/6.0, -barsize/2.0+thickness/2.0) + \
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Point(-barsize/6.0, -barsize/2.0)
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inner.close()
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self.traces.append(reversed(inner))
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# Outer parts are complete, inner parts have cutouts.
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if part_id in (1,2,3):
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# Central Motor Position and Bar.
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inner = Trace() + \
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Point(-barsize/2.0*1.3, -barsize/2.0) + \
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Point(-barsize/2.0*1.3, -barsize/2.0*0.55) + \
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Point(-barsize/2.0, -barsize/2.0*0.55) + \
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Point(-barsize/2.0, barsize/2.0*0.55) + \
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Point(-barsize/2.0*1.3, barsize/2.0*0.55) + \
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Point(-barsize/2.0*1.3, barsize/2.0) + \
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Point(barsize/2.0, barsize/2.0) + \
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Point(barsize/2.0, barsize/10.0) + \
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Point(barsize/2.0*1.2, barsize/20.0) + \
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Point(barsize/2.0*1.2, -barsize/20.0) + \
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Point(barsize/2.0, -barsize/10.0) + \
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Point(barsize/2.0, -barsize/2.0)
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inner.close()
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self.traces.append(reversed(inner))
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# Upper segment cut-outs.
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x = supwidth/2.0
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y = sqrt((upperradius-supwidth)**2 - x**2)
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a_outer = atan(x/y)
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y = sqrt((barradius+supwidth)**2 - x**2)
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a_inner = atan(x/y)
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inner = self._segment(upperradius-supwidth, barradius+supwidth,
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0, 1, cutdepth, 0.0, a_outer, a_inner)
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self.traces.append(reversed(inner))
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fa = (pi/2.0 - self._faceangle(facesize, upperradius)) / 2.0
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(fx, fy) = intersection(upperradius, angle=fa)
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if 0:
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inner = Trace() + \
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Point(fx, -fy) + \
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Point(fy, -fy) + \
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Point(fy, -fx)
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inner.close()
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self.traces.append(reversed(inner))
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oy = fy-thickness*2.0
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(ox, oa) = intersection(upperradius, y=oy)
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if 0:
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inner = Trace() + \
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Point(ox, -oy) + \
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Point(oy, -oy) + \
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Point(oy, -ox)
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inner.close()
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self.traces.append(reversed(inner))
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iy = oy
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(ix, ia) = intersection(upperradius-supwidth, y=iy)
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if part_id==2:
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inner = Circle(upperradius-supwidth, 18, 0, cutdepth=cutdepth,
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start=pi/3+a_outer, end=pi-a_outer,
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thickness=self.thickness) + \
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reversed(Circle(barradius+supwidth, 18, 0, cutdepth=cutdepth,
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start=pi/3+a_inner, end=pi-a_inner,
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thickness=self.thickness))
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inner.close()
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self.traces.append(reversed(inner))
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# Temporary cut to remove where the face will be installed.
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oy = fy-thickness
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(ox, oa) = intersection(upperradius, y=oy)
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inner = Trace() + \
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Point(ox, -ox) + \
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Point(oy, -ox) + \
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Point(oy, -oy) + \
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Point(ox, -oy)
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inner.close()
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self.traces.append(reversed(inner))
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else:
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inner = Circle(upperradius-supwidth, 18, 0, cutdepth=cutdepth,
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start=pi/3*1+a_outer, end=pi/2+ia,
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thickness=self.thickness) + \
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reversed(Circle(barradius+supwidth, 18, 0, cutdepth=cutdepth,
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start=pi/3*1+a_inner, end=pi/3*2-a_inner,
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thickness=self.thickness))
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inner.close()
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self.traces.append(reversed(inner))
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ia = pi/2 - ia
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(ix, iy) = intersection(upperradius-supwidth, angle=ia)
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inner = Circle(upperradius-supwidth, 18, 0, cutdepth=cutdepth,
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start=pi/2+ia, end=pi/3*3-a_outer,
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thickness=self.thickness) + \
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reversed(Circle(barradius+supwidth, 18, 0, cutdepth=cutdepth,
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start=pi/3*2+a_inner, end=pi/3*3-a_inner,
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thickness=self.thickness)) + \
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Point(ix, -ix)
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inner.close()
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self.traces.append(reversed(inner))
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# Face and base cutout slots.
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cy = fy-thickness
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for (x1, x2) in zip(fjoint.fingers[1::2],fjoint.fingers[2::2]):
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inner = Trace() + \
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Point(cy+x1, -cy) + \
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Point(cy+x2, -cy) + \
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Point(cy+x2, -cy-thickness) + \
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Point(cy+x1, -cy-thickness)
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inner.close()
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self.traces.append(reversed(inner))
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for (y1, y2) in zip(bjoint.fingers[1::2],bjoint.fingers[2::2]):
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inner = Trace() + \
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Point(cy, -cy-y2) + \
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Point(cy, -cy-y1) + \
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Point(cy+thickness, -cy-y1) + \
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Point(cy+thickness, -cy-y2)
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inner.close()
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self.traces.append(reversed(inner))
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if 0:
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if part_id==2:
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for seg in range(2):
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segnext = seg*2+1
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inner = self._segment(upperradius-supwidth, barradius+supwidth,
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seg, segnext, cutdepth, 0.0, a_outer, a_inner)
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self.traces.append(reversed(inner))
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else:
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for seg in range(3):
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segnext = seg+1
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inner = self._segment(upperradius-supwidth, barradius+supwidth,
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seg, segnext, cutdepth, 0.0, a_outer, a_inner)
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self.traces.append(reversed(inner))
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# Lower segment cut-outs.
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x = supwidth/2.0
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y = sqrt((lowerradius-supwidth)**2 - x**2)
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a_outer = atan(x/y)
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y = sqrt((barradius+supwidth)**2 - x**2)
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a_inner = atan(x/y)
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for seg in range(3):
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segnext = seg+1
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inner = self._segment(lowerradius-supwidth, barradius+supwidth,
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seg, segnext, cutdepth, pi, a_outer, a_inner)
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self.traces.append(reversed(inner))
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if part_id in (1,2,3):
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r_mid = barradius+supwidth + ((upperradius-supwidth) - (barradius+supwidth))/2.0
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self._slot(barsize/2.0 + supwidth/2.0, cutdepth*1.5, cutdepth)
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self._slot(barsize/2.0 + supwidth/2.0, -cutdepth*1.5, cutdepth)
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self._slot(barsize/2.0 + supwidth/2.0, r_mid+cutdepth*1.5, cutdepth)
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self._slot(barsize/2.0 + supwidth/2.0, r_mid-cutdepth*1.5, cutdepth)
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elif part_id in (5,6):
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# The board supports.
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x = primarygapwidth
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y = ((upperradius-supwidth) + (barradius+supwidth))/2.0 + supwidth*2.0
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t = Trace() + \
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Point(0.0, 0.0) + \
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Point(0.0, supwidth-cutdepth*2.0) + \
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Point(-cutdepth, supwidth-cutdepth*2.0) + \
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Point(-cutdepth, supwidth-cutdepth*1.0) + \
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Point(0.0, supwidth-cutdepth*1.0) + \
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Point(0.0, supwidth*2.0-cutdepth*2.0) + \
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Point(-cutdepth, supwidth*2.0-cutdepth*2.0) + \
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Point(-cutdepth, supwidth*2.0-cutdepth*1.0) + \
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Point(0.0, supwidth*2.0-cutdepth*1.0) + \
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Point(0.0, y-supwidth*2.0+cutdepth*1.0) + \
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Point(-cutdepth, y-supwidth*2.0+cutdepth*1.0) + \
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Point(-cutdepth, y-supwidth*2.0+cutdepth*2.0) + \
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Point(0.0, y-supwidth*2.0+cutdepth*2.0) + \
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Point(0.0, y-supwidth+cutdepth*1.0) + \
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Point(-cutdepth, y-supwidth+cutdepth*1.0) + \
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Point(-cutdepth, y-supwidth+cutdepth*2.0) + \
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Point(0.0, y-supwidth+cutdepth*2.0) + \
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Point(0.0, y) + \
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Point(x, y) + \
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Point(x, y-supwidth-cutdepth*1.0) + \
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Point(x+cutdepth, y-supwidth-cutdepth*1.0) + \
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Point(x+cutdepth, y-supwidth-cutdepth*2.0) + \
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Point(x, y-supwidth-cutdepth*2.0) + \
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Point(x, supwidth-cutdepth*1.0) + \
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Point(x+cutdepth, supwidth-cutdepth*1.0) + \
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Point(x+cutdepth, supwidth-cutdepth*2.0) + \
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Point(x, supwidth-cutdepth*2.0) + \
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Point(x, 0.0)
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t.close()
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self.traces.append(t)
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elif part_id==7:
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# The face components.
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t = Trace(x=[thickness], y=[thickness])
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for i, pos in enumerate(fjoint.fingers[1:-1]):
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if i%2==0:
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t += Point(pos, thickness)
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t += Point(pos, 0.0)
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else:
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t += Point(pos, 0.0)
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t += Point(pos, thickness)
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t += Point(faceheight, thickness)
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t += Point(faceheight, facewidth-thickness)
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for i, pos in enumerate(reversed(fjoint.fingers[1:-1])):
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if i%2==0:
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t += Point(pos, facewidth-thickness)
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t += Point(pos, facewidth)
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else:
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t += Point(pos, facewidth)
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t += Point(pos, facewidth-thickness)
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t += Point(thickness, facewidth-thickness)
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for i, pos in enumerate(reversed(wjoint.fingers[1:-1])):
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if i%2==0:
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t += Point(thickness, pos)
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t += Point(0.0, pos)
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else:
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t += Point(0.0, pos)
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t += Point(thickness, pos)
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t.close()
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self.traces.append(t)
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elif part_id==8:
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t = Trace(x=[thickness], y=[0.0])
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t += Point(facewidth-thickness, 0.0)
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for i, pos in enumerate(bjoint.fingers[1:-1]):
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if i%2==0:
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t += Point(facewidth-thickness, pos)
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t += Point(facewidth, pos)
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else:
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t += Point(facewidth, pos)
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t += Point(facewidth-thickness, pos)
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t += Point(facewidth-thickness, faceheight)
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for i, pos in enumerate(reversed(wjoint.fingers[1:-1])):
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if i%2==0:
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|
t += Point(pos, faceheight)
|
||
|
|
t += Point(pos, faceheight-thickness)
|
||
|
|
else:
|
||
|
|
t += Point(pos, faceheight-thickness)
|
||
|
|
t += Point(pos, faceheight)
|
||
|
|
t += Point(thickness, faceheight)
|
||
|
|
for i, pos in enumerate(reversed(bjoint.fingers[1:-1])):
|
||
|
|
if i%2==0:
|
||
|
|
t += Point(thickness, pos)
|
||
|
|
t += Point(0.0, pos)
|
||
|
|
else:
|
||
|
|
t += Point(0.0, pos)
|
||
|
|
t += Point(thickness, pos)
|
||
|
|
t.close()
|
||
|
|
self.traces.append(t)
|
||
|
|
|
||
|
|
for eye in range(2):
|
||
|
|
np = NeoPixel(style='rings', origin=Point(facewidth/4.0*(1+eye*2), faceheight/2.5), scale=scale, rotate=pi/2)
|
||
|
|
self.traces.extend(np.traces)
|
||
|
|
np = NeoPixel(style='strip', origin=Point(facewidth/2.0, faceheight*0.80), scale=scale)
|
||
|
|
self.traces.extend(np.traces)
|
||
|
|
|
||
|
|
# Camera
|
||
|
|
csize = 8.5*scale
|
||
|
|
t = Trace() + \
|
||
|
|
Point(facewidth/2.0 - csize/2.0, faceheight/2.5 - csize/2.0) + \
|
||
|
|
Point(facewidth/2.0 + csize/2.0, faceheight/2.5 - csize/2.0) + \
|
||
|
|
Point(facewidth/2.0 + csize/2.0, faceheight/2.5 + csize/2.0) + \
|
||
|
|
Point(facewidth/2.0 - csize/2.0, faceheight/2.5 + csize/2.0)
|
||
|
|
t.close()
|
||
|
|
self.traces.append(t)
|
||
|
|
|
||
|
|
def _faceangle(self, size, radius):
|
||
|
|
# Returns total angle required for a face.
|
||
|
|
o = sqrt(2.0*(size**2))*0.5
|
||
|
|
h = radius
|
||
|
|
return 2.0*asin(o/h)
|
||
|
|
|
||
|
|
def _segment(self, r_outer, r_inner, seg, segnext, cutdepth, a_offset, a_outer, a_inner):
|
||
|
|
# Create an inner segment cutout.
|
||
|
|
t = Circle(r_outer, 18, 0, cutdepth=cutdepth,
|
||
|
|
start=a_offset+pi/3*seg+a_outer, end=a_offset+pi/3*segnext-a_outer,
|
||
|
|
thickness=self.thickness) + \
|
||
|
|
reversed(Circle(r_inner, 18, 0, cutdepth=cutdepth,
|
||
|
|
start=a_offset+pi/3*seg+a_inner, end=a_offset+pi/3*segnext-a_inner,
|
||
|
|
thickness=self.thickness))
|
||
|
|
if a_offset == 0.0 and seg == 0:
|
||
|
|
r_mid = r_inner + (r_outer - r_inner)/2.0
|
||
|
|
t += Trace() + \
|
||
|
|
Point(self.supwidth / 2.0, r_mid - self.supwidth) + \
|
||
|
|
Point(self.barsize/2.0 + self.supwidth, r_mid - self.supwidth) + \
|
||
|
|
Point(self.barsize/2.0 + self.supwidth, r_mid + self.supwidth) + \
|
||
|
|
Point(self.supwidth / 2.0, r_mid + self.supwidth)
|
||
|
|
t.close()
|
||
|
|
return t
|
||
|
|
|
||
|
|
def _slot(self, x, y, cutdepth):
|
||
|
|
slot = Trace() + \
|
||
|
|
Point(x-self.thickness/2.0, y+cutdepth/2.0) + \
|
||
|
|
Point(x+self.thickness/2.0, y+cutdepth/2.0) + \
|
||
|
|
Point(x+self.thickness/2.0, y-cutdepth/2.0) + \
|
||
|
|
Point(x-self.thickness/2.0, y-cutdepth/2.0)
|
||
|
|
slot.close()
|
||
|
|
self.traces.append(reversed(slot))
|