Source code for boxes.generators.robotarm

#!/usr/bin/env python3
# Copyright (C) 2017 Florian Festi
#
#   This program is free software: you can redistribute it and/or modify
#   it under the terms of the GNU General Public License as published by
#   the Free Software Foundation, either version 3 of the License, or
#   (at your option) any later version.
#
#   This program is distributed in the hope that it will be useful,
#   but WITHOUT ANY WARRANTY; without even the implied warranty of
#   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#   GNU General Public License for more details.
#
#   You should have received a copy of the GNU General Public License
#   along with this program.  If not, see <http://www.gnu.org/licenses/>.

from boxes import *
from boxes import robot, servos

[docs]class RobotArm(Boxes): # change class name here and below """Segments of servo powered robot arm""" ui_group = "Part" def __init__(self): Boxes.__init__(self) self.addSettingsArgs(edges.FingerJointSettings) for i in range(1, 6): ra = robot.RobotArg(True) sa = servos.ServoArg() self.argparser.add_argument( "--type%i" % i, action="store", type=ra, default="none", choices=ra.choices(), help="type of arm segment") self.argparser.add_argument( "--servo%ia" % i, action="store", type=sa, default="Servo9g", choices=sa.choices(), help="type of servo to use") self.argparser.add_argument( "--servo%ib" % i, action="store", type=sa, default="Servo9g", choices=sa.choices(), help="type of servo to use on second side (if different is supported)") self.argparser.add_argument( "--length%i" % i, action="store", type=float, default=50., help="length of segment axle to axle") def render(self): for i in range(5, 0,-1): armtype = getattr(self, "type%i" % i) length = getattr(self, "length%i" % i) servoA = getattr(self, "servo%ia" % i) servoB = getattr(self, "servo%ib" % i) armcls = getattr(robot, armtype, None) if not armcls: continue servoClsA = getattr(servos, servoA) servoClsB = getattr(servos, servoB) armcls(self, servoClsA(self), servoClsB(self))(length, move="up")