Source code for boxes.robot

import boxes

__all__ = [
    "RobotArg",
    "RobotArmMM",
    "RobotArmMm",
    "RobotArmUU",
    "RobotArmUu",
    "RobotArmMu",
]

[docs]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)
[docs] def choices(self): return [name for name, descr in self.robotarms]
[docs] def html(self, name, default): 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): 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)
[docs]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)
[docs]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)
[docs]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)
[docs]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)
[docs]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):