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MarcosCad.groovy
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MarcosCad.groovy
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// https://mvnrepository.com/artifact/fr.brouillard.oss/jgitver
@Grapes(
@Grab(group='fr.brouillard.oss', module='jgitver', version='0.14.0')
)
import fr.brouillard.oss.jgitver.*;
import eu.mihosoft.vrl.v3d.*;
import javafx.scene.text.Font;
import com.google.gson.reflect.TypeToken
import com.neuronrobotics.bowlerstudio.creature.ICadGenerator
import com.neuronrobotics.bowlerstudio.creature.IgenerateBed
import com.neuronrobotics.bowlerstudio.scripting.ScriptingEngine
//import com.neuronrobotics.bowlerstudio.vitamins.VitaminBomManager
import com.neuronrobotics.bowlerstudio.vitamins.Vitamins
import com.neuronrobotics.sdk.addons.kinematics.AbstractLink
import com.neuronrobotics.sdk.addons.kinematics.DHLink
import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics
import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration
import com.neuronrobotics.sdk.addons.kinematics.MobileBase
import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR
import eu.mihosoft.vrl.v3d.CSG
import eu.mihosoft.vrl.v3d.ChamferedCube
import eu.mihosoft.vrl.v3d.Cube
import eu.mihosoft.vrl.v3d.Cylinder
import eu.mihosoft.vrl.v3d.FileUtil
import eu.mihosoft.vrl.v3d.PrepForManufacturing
import eu.mihosoft.vrl.v3d.RoundedCube
import eu.mihosoft.vrl.v3d.Sphere
import eu.mihosoft.vrl.v3d.Transform
import eu.mihosoft.vrl.v3d.parametrics.LengthParameter
import javafx.scene.paint.Color
import javafx.scene.transform.Affine
import eu.mihosoft.vrl.v3d.ChamferedCylinder
import java.lang.reflect.Type
import java.nio.file.Paths
import javax.xml.transform.TransformerFactory
import org.apache.commons.math3.analysis.function.Atan
import org.apache.commons.math3.analysis.function.Sqrt
import org.apache.commons.math3.genetics.GeneticAlgorithm
import com.google.gson.Gson
import com.google.gson.GsonBuilder
import com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager
import com.neuronrobotics.bowlerstudio.physics.TransformFactory
import com.neuronrobotics.sdk.common.DeviceManager
import com.neuronrobotics.sdk.addons.kinematics.VitaminLocation;
import javafx.application.Platform
CSG ChamferedCylinder(double r, double h, double chamferHeight) {
CSG cube1 = new Cylinder(r - chamferHeight,r - chamferHeight, h,40).toCSG();
CSG cube2 = new Cylinder(r,r, h - chamferHeight * 2,40).toCSG().movez(chamferHeight);
return cube1.union(cube2).hull()
}
double computeGearPitch(double diameterAtCrown,double numberOfTeeth){
return ((diameterAtCrown/2)*((360.0)/numberOfTeeth)*Math.PI/180)
}
// Load the devices to map the kinematics of the gear wrist
// this is loaded here in case in the future we need to pass the gear ratio to the gear wrist kinematics.
//ScriptingEngine.gitScriptRun("https://github.com/OperationSmallKat/Marcos.git", "GearWristKinematics.groovy")
url = "https://github.com/OperationSmallKat/Marcos.git"
File parametricsCSV = ScriptingEngine.fileFromGit(url, "parametrics.csv")
HashMap<String,Double> numbers;
BufferedReader reader;
String code="HashMap<String,Double> numbers = new HashMap<>()\n"
String vars=""
String equs=""
try {
reader = new BufferedReader(new FileReader(parametricsCSV.getAbsolutePath()));
String line = reader.readLine();
while ((line = reader.readLine() )!= null) {
if(line.length()>3) {
//System.out.println(line);
String[] parts = line.split(",");
String value=(parts[2].replaceAll(parts[1], "")).trim()
String reconstructed =parts[0]+"="+value;
try {
Double.parseDouble(value)
vars+= reconstructed+"\n"
vars+="numbers.put(\""+parts[0]+"\","+parts[0]+");\n"
}catch(NumberFormatException ex) {
equs+= reconstructed+"\n"
equs+="numbers.put(\""+parts[0]+"\","+parts[0]+");\n"
}
}
}
reader.close();
} catch (IOException e) {
e.printStackTrace();
}
code+=vars;
code+=equs;
code+="return numbers"
//println code
numbers=(HashMap<String,Double>) ScriptingEngine.inlineScriptStringRun(code, null, "Groovy");
//for(String key :numbers.keySet()) {
// println key+" : "+numbers.get(key)
//}
def honrConfig = Vitamins.getConfiguration("hobbyServoHorn", "standardMicro1")
double hornDiam = honrConfig.hornBaseDiameter
// Begin creating the resin print horn piece withn a chamfered cylendar
CSG core= ChamferedCylinder(hornDiam/2.0,hornDiam,numbers.Chamfer2)
//calculate the depth of the screw head based on the given measurments
double cutoutDepth = numbers.ServoHornHeight-numbers.ServoMountingScrewSpace - numbers.ServoHornSplineHeight
// the cutout for the head of the screw on the resin horn
CSG screwHeadCutOut = new Cylinder(numbers.ServoHornScrewHeadDiamter/2.0,numbers.ServoHornScrewHeadDiamter/2.0, cutoutDepth,30).toCSG()
.toZMax()
.movez(numbers.ServoHornHeight)
// cutout for the hole the shaft of the mount screw passes through
CSG screwHoleCutOut = new Cylinder(numbers.ServoHornScrewDiamter/2.0,numbers.ServoHornScrewDiamter/2.0, numbers.ServoMountingScrewSpace,30).toCSG()
.toZMax()
.movez(numbers.ServoHornHeight-cutoutDepth)
// Cut the holes from the core
CSG cutcore=core.difference([
screwHeadCutOut,
screwHoleCutOut
])
double spineDiameter=4.68+0.2
// use the gear maker to generate the spline
//def gears = ScriptingEngine.gitScriptRun(
// "https://github.com/madhephaestus/GearGenerator.git", // git location of the library
// "bevelGear.groovy" , // file to load
// // Parameters passed to the funcetion
// [
// numbers.ServoHornNumberofTeeth,
// // Number of teeth gear a
// numbers.ServoHornNumberofTeeth,
// // Number of teeth gear b
// numbers.ServoHornSplineHeight,
// // thickness of gear A
// computeGearPitch(spineDiameter,numbers.ServoHornNumberofTeeth),
// // gear pitch in arc length mm
// 0,
// // shaft angle, can be from 0 to 100 degrees
// 0// helical angle, only used for 0 degree bevels
// ]
// )
//// get just the pinion of the set
//CSG spline = gears.get(0)
// cut the spline from the core
CSG resinPrintServoMount=cutcore//.difference(spline)
resinPrintServoMount.setColor(Color.DARKGREY)
resinPrintServoMount.setName("ResinHorn")
//return resinPrintServoMount
class cadGenMarcos implements ICadGenerator{
String url = "https://github.com/OperationSmallKat/Marcos.git"
LengthParameter offset = new LengthParameter("printerOffset",0.0,[2, 0])
CSG resinPrintServoMount
HashMap<String,Double> numbers
LengthParameter tailLength = new LengthParameter("Cable Cut Out Length",30,[500, 0.01])
double endOfPassiveLinkToBolt = 4.5
double hornDiam;
Gson gson = new GsonBuilder().disableHtmlEscaping().setPrettyPrinting().create();
//VitaminBomManager bom;
CSG cachedGearLink =null;
public cadGenMarcos(CSG res,HashMap<String,Double> n,double h) {
resinPrintServoMount=res
numbers=n
hornDiam=h
}
ArrayList<CSG> cache = new ArrayList<CSG>()
private MobileBase mb;
CSG moveDHValues(CSG incoming,DHParameterKinematics d, int linkIndex ){
TransformNR step = new TransformNR(d.getChain().getLinks().get(linkIndex).DhStep(0)).inverse()
Transform move = com.neuronrobotics.bowlerstudio.physics.TransformFactory.nrToCSG(step)
return incoming.transformed(move)
}
CSG reverseDHValues(CSG incoming,DHParameterKinematics d, int linkIndex ){
TransformNR step = new TransformNR(d.getChain().getLinks().get(linkIndex).DhStep(0))
Transform move = com.neuronrobotics.bowlerstudio.physics.TransformFactory.nrToCSG(step)
return incoming.transformed(move)
}
CSG footBallSection() {
def capThickness=2.25
def ballRadius = 10
def radius = ballRadius-(capThickness/2.0)
def neckRad = 6
def arclen=16.5
def neckThicknes =3.5
def theta = (arclen*360)/(2.0*3.14159*radius)
def internalAngle = (90-(theta/2))
def d = Math.sin(Math.toRadians(internalAngle))*radius
//println d +" "+theta+" cir="+(3.14159*radius)+ " ind angle="+internalAngle
CSG slicer = new Cylinder(radius*2, neckThicknes).toCSG()
.difference(new Cylinder(neckRad,neckRad+neckThicknes, neckThicknes,15).toCSG())
.toZMax()
.movez(d)
CSG slicer2 = new Cylinder(radius*2, radius*2).toCSG()
CSG foot = new Sphere(ballRadius,32, 16).toCSG()
.difference(slicer2.movez(d-neckThicknes))
CSG ball = new Sphere(radius,32, 16).toCSG()
.difference(slicer)
//.difference(slicer2)
.union(foot)
//.union(new Cylinder(radius-2, ballRadius).toCSG().toZMax())
}
CSG toBed(ArrayList<CSG> parts, String name) {
CSG bedOne=null
for(CSG p:parts) {
if(bedOne==null)
bedOne=p
else {
bedOne=bedOne.dumbUnion(p)
}
}
if(bedOne!=null)
bedOne.setName(name)
else {
bedOne = new Cube().toCSG()
bedOne.setManufacturing({return null})
}
return bedOne
}
CSG ChamferedCylinder(double r, double h, double chamferHeight) {
CSG c1 = new Cylinder(r - chamferHeight,r - chamferHeight, h,40).toCSG()
CSG c2 = new Cylinder(r,r, h - chamferHeight * 2,40).toCSG().movez(chamferHeight)
return c1.union(c2).hull()
}
CSG ChamferedCylinderHR(double r, double h, double chamferHeight) {
CSG c1 = new Cylinder(r - chamferHeight,r - chamferHeight, h,80).toCSG()
CSG c2 = new Cylinder(r,r, h - chamferHeight * 2,80).toCSG().movez(chamferHeight)
return c1.union(c2).hull()
}
CSG StraightChamfer(double x, double y, double chamferHeight) {
CSG c1 = new Cube(x, y, chamferHeight).toCSG().movez(chamferHeight)
CSG c2 = new Cube(x+chamferHeight,y+chamferHeight, chamferHeight).toCSG()
CSG c3 = c1.union(c2).hull()
return c3.difference(c2).toZMin()
}
CSG StraightChamfer(double x, double y,double z, double xycham,double zcham) {
CSG lower = new ChamferedCube(x, y, z+xycham*2, xycham).toCSG()
lower = lower.intersect(lower.getBoundingBox().movez(xycham))
lower = lower.intersect(lower.getBoundingBox().movez(-xycham))
.movez(-xycham+zcham)
CSG upper = new ChamferedCube(x, y, z, zcham).toCSG()
return new ChamferedCube(x, y, z, zcham).toCSG()
}
CSG ChamferedRoundCornerLug(double x, double y,double r, double h, double chamferHeight) {
CSG corners = ChamferedCylinder(r,h,chamferHeight)
CSG xSec= corners.union(corners.movex(x-r*2))
return xSec.union(xSec.movey(y-(r*2))).hull().toXMin().toYMin().movex(-x/2).movey(-y/2)
}
public CSG calibrationLink(double rotationCenterToBoltCenter,CSG bolt) {
CSG core= linkCore(rotationCenterToBoltCenter, bolt,numbers.LooseTolerance)
double defaultValue = numbers.LinkLength - endOfPassiveLinkToBolt
CSG stl= Vitamins.get(ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/Marcos.git",
"DriveLink.stl"))
double chamfer = numbers.Chamfer2
double smallChamfer = numbers.Chamfer1/1.5
double linkWidth = numbers.LinkWidth
double linkRadius = linkWidth/2
double linkThickness = numbers.LinkHeight
double filletRad=numbers.Fillet3
double LinkMountingCutOutWidth=numbers.LinkMountingCutOutWidth
double blockx=rotationCenterToBoltCenter-numbers.LinkMountingCutOutLength-numbers.Tolerance+endOfPassiveLinkToBolt+filletRad
double ServoHornRad=(hornDiam+numbers.ServoHornHoleTolerance/2)/2.0
double ServoHornHeight =numbers.ServoHornHeight+numbers.LooseTolerance
double mountHeadRad =( numbers.MountingScrewHeadDiamter+numbers.LooseTolerance)/2.0
double mountRad=(numbers.MountingScrewDiamter+numbers.LooseTolerance)/2.0
double decritiveRad = numbers.ServoHornDiameter/4.0
double SetscrewLength = numbers.SetScrewLength
double SetscrewSize = numbers.SetScrewSize
double SquareNutWidth = numbers.SquareNutWidth + numbers.LooseTolerance
double SquareNutHeight = numbers.SquareNutHeight + numbers.LooseTolerance
double SquareNutCutOutHeight = linkThickness/2+SquareNutWidth/2
double LinkSqaureNutSpacing = numbers.LinkSqaureNutSpacing-3
//Solving for Angle of setscrew.
double hypot1 = Math.hypot(ServoHornRad + SetscrewLength + numbers.LooseTolerance, SetscrewSize/2)
double angle1 = Math.asin(linkRadius/hypot1)
double angle2 = Math.asin((ServoHornRad + SetscrewLength + numbers.LooseTolerance)/hypot1)
double angle3 = (Math.PI/2)-angle1
double angle4 = (Math.PI/2)-angle2
double SetScrewAngle = Math.toDegrees((Math.PI/2)-(angle3+angle4))
double SetScrewChamferLength = linkRadius/Math.sin((Math.PI/2)-(angle3+angle4))
double SetScrewCutOutLength = numbers.LinkLength/Math.cos((Math.PI/2)-(angle3+angle4))
println(SetScrewChamferLength)
println(SetScrewCutOutLength)
CSG screwHole = new Cylinder(4.2/2.0, core.getTotalZ()).toCSG()
CSG ServoHornCutoutChamfer = ChamferedCylinder(ServoHornRad+smallChamfer,ServoHornHeight+smallChamfer,smallChamfer)
.toZMax()
.movez(smallChamfer)
// Idle pin cutout
CSG ServoHornCutout = ChamferedCylinder(ServoHornRad,ServoHornHeight,smallChamfer)
//.movez(-smallChamfer)
.union(ServoHornCutoutChamfer)
.union(screwHole)
double distanceOfSquareNut = (LinkSqaureNutSpacing+linkRadius)-(SquareNutHeight/2)
CSG SquareNutCutOut = new Cube(SquareNutHeight,SquareNutWidth, SquareNutCutOutHeight).toCSG()
.toZMin()
.movex(distanceOfSquareNut)
CSG SquareNutChamfer = StraightChamfer(SquareNutHeight,SquareNutWidth,smallChamfer)
.movex(distanceOfSquareNut)
CSG SetScrewCutOut = new Cylinder(SetscrewSize/2, SetScrewCutOutLength).toCSG()
.toZMin()
.roty(-90)
.movez(linkThickness/2)
//Chamfer for set screw
CSG cutout1 = new Cylinder((SetscrewSize)/2, SetScrewCutOutLength).toCSG()
.toZMax()
.roty(90)
.movez(linkThickness/2)
.rotz(SetScrewAngle)
CSG cutout2 = new Cylinder((SetscrewSize)/2+chamfer, SetScrewCutOutLength/2).toCSG()
.toZMax()
.roty(90)
.movez(linkThickness/2)
.movex(linkRadius)
.rotz(SetScrewAngle)
CSG Flatwall = new Cube(numbers.LinkLength,linkWidth,linkThickness).toCSG()
.toZMax()
.movez(linkThickness)
.movex(numbers.LinkLength/2)
CSG Flatwall2 = new Cube(numbers.LinkLength,linkWidth,linkThickness).toCSG()
.toZMax()
.movez(linkThickness)
.movex(numbers.LinkLength/2)
.movey(chamfer)
CSG Flatwall3 = new Cube(numbers.LinkLength,linkWidth,linkThickness).toCSG()
.toZMax()
.movez(linkThickness)
.movex(numbers.LinkLength/2)
.movey(-linkWidth)
.movey(-chamfer)
CSG p1 = ((Flatwall.intersect(cutout1)).difference(Flatwall2))
CSG p2 = (cutout2.difference(Flatwall).difference(Flatwall3))
CSG SetScrewChamferleft = p2.union(p1).hull()
CSG SetScrewChamferright = SetScrewChamferleft.mirrory()
// Assemble the whole link
CSG link = core
.difference(ServoHornCutout)
.difference(SquareNutCutOut.rotz(SetScrewAngle))
.difference(SquareNutCutOut.rotz(-SetScrewAngle))
.difference(SetScrewCutOut.rotz(SetScrewAngle))
.difference(SetScrewCutOut.rotz(-SetScrewAngle))
.difference(SquareNutChamfer.rotz(SetScrewAngle))
.difference(SetScrewChamferleft)
.difference(SetScrewChamferright)
//link.setIsWireFrame(true)
link.setColor(Color.DARKRED)
return link//.union(stl)
//return stl
}
public CSG linkCore(double rotationCenterToBoltCenter,CSG bolt,double tollerence) {
double defaultValue = numbers.LinkLength - endOfPassiveLinkToBolt
double chamfer = numbers.Chamfer2
double smallChamfer = numbers.Chamfer1
double linkWidth = numbers.LinkWidth
double linkThickness = numbers.LinkHeight
double filletRad=numbers.Fillet3
double LinkMountingCutOutWidth=numbers.LinkMountingCutOutWidth
double blockx=rotationCenterToBoltCenter-numbers.LinkMountingCutOutLength-numbers.Tolerance+endOfPassiveLinkToBolt+filletRad
double IdlePinRad=(numbers.IdlePinDiamter+tollerence)/2.0
double idlePinHeight =numbers.IdlePinThickness+tollerence
double mountHeadRad =( numbers.MountingScrewHeadDiamter+tollerence)/2.0
double mountRad=( numbers.MountingScrewDiamter+tollerence)/2.0
double decritiveRad = numbers.ServoHornDiameter/4.0
double zipTieLugDepth = 4
double zipTieWidth=3
double zipTieLugDIstanceFromEnd = 3.7
double zipTieClerence =1.2
double zipTieLugX=rotationCenterToBoltCenter-endOfPassiveLinkToBolt-zipTieLugDIstanceFromEnd
// Hull together a toolshape to make the cutter to make the shape appropratly
CSG cornerFilletCutter = new Cylinder(filletRad, linkThickness, 30).toCSG()
// cut from the corner to the ege of the link
cornerFilletCutter=cornerFilletCutter.union(cornerFilletCutter.movey(LinkMountingCutOutWidth)).hull()
// cut from the corner to the end of where the fillet should end
cornerFilletCutter=cornerFilletCutter.union(cornerFilletCutter.movex(chamfer)).hull()
CSG leftCorner = cornerFilletCutter.movex(blockx).movey(linkWidth/2-LinkMountingCutOutWidth+filletRad)
CSG rightCorner = cornerFilletCutter.movex(blockx).movey(-linkWidth/2-filletRad)
CSG lowerEnd = ChamferedCylinder(linkWidth/2, linkThickness, chamfer)
CSG linkBlock = new ChamferedCube(blockx+chamfer, linkWidth, linkThickness, chamfer).toCSG()
.toZMin()
.toXMin()
// Trim the end chamfer off the end of the link block to make the end flat
linkBlock=linkBlock.intersect(linkBlock.getBoundingBox().movex(-chamfer))
// Use chamferd cylendars to make the lug at the end of the link
CSG mountLug = ChamferedRoundCornerLug(blockx, linkWidth-(LinkMountingCutOutWidth*2),filletRad, linkThickness+chamfer, chamfer)
.toZMin()
.toXMax()
// Make a champfered cylendar to make the inner chamfer radius'
CSG LowerInnerCornerChamferCutLeft= ChamferedCylinder(filletRad+chamfer, chamfer*2+1, chamfer)
.movex(blockx)
.movey(linkWidth/2-LinkMountingCutOutWidth+filletRad)
.toZMax()
.movez(chamfer)
LowerInnerCornerChamferCutLeft=LowerInnerCornerChamferCutLeft.union(LowerInnerCornerChamferCutLeft.movey(LinkMountingCutOutWidth)).hull()
CSG LowerInnerCornerChamferCutRight = LowerInnerCornerChamferCutLeft.movey(-linkWidth)
// trim off the top chamfers and mofe the block end to the tip of the link block
mountLug=mountLug.difference(mountLug.getBoundingBox().movez(linkThickness))
.movex(rotationCenterToBoltCenter+endOfPassiveLinkToBolt)
CSG MountHeadHoleCutoutChamfer = ChamferedCylinder(mountHeadRad+smallChamfer,linkThickness+smallChamfer,smallChamfer)
.toZMin()
.movez(linkThickness-smallChamfer)
CSG MountHoleCutoutChamfer = ChamferedCylinder(mountRad+smallChamfer,linkThickness+smallChamfer,smallChamfer)
.toZMax()
.movez(smallChamfer)
CSG mountAssebmbly = MountHoleCutoutChamfer
//.union(MountHeadHoleCutoutChamfer)
.movex(rotationCenterToBoltCenter)
if(bolt!=null) {
CSG boltHole = bolt.toZMax()
.movez(linkThickness)
mountAssebmbly=mountAssebmbly
.union(boltHole)
}
CSG decritiveDivit = ChamferedCylinder(decritiveRad+chamfer,chamfer*2+1,chamfer)
.movez(linkThickness-chamfer)
CSG decoration = decorationGen(rotationCenterToBoltCenter)
// Assemble the whole link
CSG link = lowerEnd
.union(linkBlock)
.hull()
.union(mountLug)
.difference(leftCorner)
.difference(rightCorner)
.difference(LowerInnerCornerChamferCutRight)
.difference(LowerInnerCornerChamferCutLeft)
.difference(decritiveDivit)
.difference(decoration)
if(bolt!=null)
link=link.difference(mountAssebmbly)
//link.setIsWireFrame(true)
link.setColor(Color.DARKRED)
return link//.union(stl)
}
public CSG passiveLink(double rotationCenterToBoltCenter,CSG bolt) {
CSG core= linkCore(rotationCenterToBoltCenter, bolt,numbers.LooseTolerance)
double defaultValue = numbers.LinkLength - endOfPassiveLinkToBolt
CSG stl= Vitamins.get(ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/Marcos.git",
"IdleLinkLeg.stl"))
double chamfer = numbers.Chamfer2
double smallChamfer = numbers.Chamfer1
double linkWidth = numbers.LinkWidth
double linkThickness = numbers.LinkHeight
double filletRad=numbers.Fillet3
double LinkMountingCutOutWidth=numbers.LinkMountingCutOutWidth
double blockx=rotationCenterToBoltCenter-numbers.LinkMountingCutOutLength-numbers.Tolerance+endOfPassiveLinkToBolt+filletRad
double IdlePinRad=(numbers.IdlePinDiamter+numbers.LooseTolerance)/2.0
double idlePinHeight =numbers.IdlePinThickness+numbers.LooseTolerance
double mountHeadRad =( numbers.MountingScrewHeadDiamter+numbers.LooseTolerance)/2.0
double mountRad=( numbers.MountingScrewDiamter+numbers.LooseTolerance)/2.0
double decritiveRad = numbers.ServoHornDiameter/4.0
double zipTieLugDepth = 4
double zipTieWidth=3
double zipTieLugDIstanceFromEnd = 3.7
double zipTieClerence =1.2
double zipTieLugX=rotationCenterToBoltCenter-endOfPassiveLinkToBolt-zipTieLugDIstanceFromEnd
CSG IdlePinCutoutChamfer = ChamferedCylinder(IdlePinRad+smallChamfer,idlePinHeight+smallChamfer,smallChamfer)
.toZMax()
.movez(smallChamfer)
// Idle pin cutout
CSG IdlePinCutout = ChamferedCylinder(IdlePinRad,idlePinHeight,smallChamfer)
//.movez(-smallChamfer)
.union(IdlePinCutoutChamfer)
CSG zipLug = new RoundedCube(zipTieWidth+chamfer*2,zipTieLugDepth-zipTieClerence,linkThickness-(zipTieClerence*2))
.cornerRadius(chamfer)
.toCSG()
.toZMin()
.toXMax()
.toYMax()
.movex(chamfer)
.movez(zipTieClerence)
CSG zipTieCut = new Cube(zipTieWidth,zipTieLugDepth,linkThickness).toCSG()
.toZMin()
.toXMax()
.toYMax()
.difference(zipLug)
CSG bottomChamfer = new ChamferedCube(zipTieWidth+smallChamfer*2,zipTieLugDepth+smallChamfer*2,linkThickness,smallChamfer).toCSG()
.toZMax()
.toXMax()
.toYMax()
.movez(smallChamfer)
.movex(smallChamfer)
.movey(smallChamfer)
zipTieCut=zipTieCut.union(bottomChamfer)
zipTieCut=zipTieCut.movey(linkWidth/2)
.movex(zipTieLugX)
CSG rightZipTie=zipTieCut.mirrory()
// Assemble the whole link
CSG link = core
.difference(IdlePinCutout)
.difference(zipTieCut)
.difference(rightZipTie)
//link.setIsWireFrame(true)
link.setColor(Color.DARKRED)
return link//.union(stl)
}
CSG decorationGen(double rotationCenterToBoltCenter) {
double backOffset = 4
double chamfer = numbers.Chamfer2
double x=rotationCenterToBoltCenter+chamfer-numbers.LinkDetailSize/2-backOffset-endOfPassiveLinkToBolt-0.5
double y=numbers.LinkWidth-numbers.LinkDetailSize*2+chamfer*2
double filletRad=numbers.Fillet3
CSG smallCut=ChamferedCylinder((numbers.LinkWidth-numbers.LinkDetailSize*2)/2, chamfer*2+1, chamfer)
.toZMax()
.movez(chamfer)
CSG largeCut=ChamferedCylinder(numbers.LinkWidth/2, chamfer*2+1, chamfer)
.toZMax()
.movez(chamfer)
.movex(rotationCenterToBoltCenter)
CSG lug = ChamferedRoundCornerLug(x,y,filletRad,chamfer*2+1,chamfer)
.toXMin()
.movex(-chamfer+backOffset)
.difference(largeCut)
.difference(smallCut)
.movez(numbers.LinkHeight-chamfer)
return lug
}
def getGearLink() {
if(cachedGearLink==null) {
// generate the link
double gearDiameter = 27.65
cachedGearLink= Vitamins.get(ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/Marcos.git",
"DriveGear.stl"))
.moveToCenterX()
.moveToCenterY()
.rotz(180)
.movez(0.15)
double ServoHornRad=(6.96+0.2)/2.0
double ServoHornDepth=5.15
double squareNutDepth = 2+ServoHornRad
double setScrewRadius = 3.3/2.0
double smallChamfer = numbers.Chamfer1
CSG stl = cachedGearLink
double setScrewLen = gearDiameter/2;
double lowerSectionHeight =Math.abs(stl.getMinZ())
double previousOffset = offset.getMM()
double nutDepth = -lowerSectionHeight+ServoHornDepth/2
offset.setMM(0.2);
CSG nutStart = Vitamins.get("squareNut", "M3")
.roty(-90)
offset.setMM(previousOffset);
CSG nutChamfer = new ChamferedCube(nutStart.getTotalX()+smallChamfer,
nutStart.getTotalY()+smallChamfer,
3*smallChamfer, smallChamfer).toCSG()
.toZMax()
.movex(nutStart.getTotalX()/2)
.movez(-lowerSectionHeight+smallChamfer)
CSG squareNut = nutStart
.movez(nutDepth)
.union(nutChamfer)
.movex(squareNutDepth)
CSG fill = ChamferedCylinder(setScrewLen, lowerSectionHeight+smallChamfer,smallChamfer)
.toZMax()
.movez(smallChamfer)
fill=fill.difference(fill.getBoundingBox().toZMin())
CSG setScrewChamfer = ChamferedCylinder(setScrewRadius+smallChamfer, 3*smallChamfer,smallChamfer)
.movez(setScrewLen-smallChamfer)
CSG setScrew = new Cylinder(setScrewRadius, setScrewLen).toCSG()
.union(setScrewChamfer)
.roty(-90)
.movez(-lowerSectionHeight+ServoHornDepth/2)
CSG ServoHornCutoutChamfer = ChamferedCylinder(ServoHornRad+smallChamfer,3*smallChamfer,smallChamfer)
.toZMax()
.movez(smallChamfer)
// Idle pin cutout
CSG ServoHornCutout = ChamferedCylinder(ServoHornRad,ServoHornDepth,smallChamfer)
.union(ServoHornCutoutChamfer)
.movez(-lowerSectionHeight)
CSG asm= fill.difference(setScrew)
.difference(setScrew.rotz(-90))
.difference(ServoHornCutout)
.difference(squareNut)
.difference(squareNut.rotz(-90))
//return [stl, asm]
//println "Cutting the bottom off the existing gear"
CSG cutGear = stl.difference(stl.getBoundingBox().toZMax())
//println "Adding lower Section Back On"
cachedGearLink=cutGear.union(asm)
}
cachedGearLink.setColor(Color.RED)
return cachedGearLink
}
CSG getGearLinkKeepaway() {
CSG gl = getGearLink() ;
CSG toCSGMovez = new Cylinder(gl.getTotalX()/2, gl.getTotalZ(),(int)40).toCSG().movez(gl.getMinZ())
toCSGMovez.setIsWireFrame(true);
return toCSGMovez
}
double getDistanceFromCenterToMotorTop(DHParameterKinematics d, int linkIndex) {
// read motor typ information out of the link configuration
LinkConfiguration conf = d.getLinkConfiguration(linkIndex);
CSG motor = Vitamins.get(conf.getElectroMechanicalType(),conf.getElectroMechanicalSize())
.toZMax()
.movez(numbers.JointSpacing/2.0+numbers.LooseTolerance)
// Is this value actually something in the CSV?
return motor.getMaxZ()-numbers.LooseTolerance;
}
@Override
public ArrayList<CSG> generateCad(DHParameterKinematics d, int linkIndex) {
if(d.getScriptingName().startsWith("Head")||d.getScriptingName().startsWith("Tail")) {
return generateCadHeadTail(d, linkIndex)
}
AbstractLink link =d.getAbstractLink(linkIndex)
// chaeck to see if this is the left side
boolean left=false;
boolean front=false;
boolean isDummyGearWrist = false;
double parametric = numbers.LinkLength-endOfPassiveLinkToBolt
double l0offset =38.0-(numbers.LinkLength-endOfPassiveLinkToBolt)
double l1offset = 55.0 -(numbers.LinkLength-endOfPassiveLinkToBolt)
if(linkIndex==0) {
parametric=d.getDH_R(linkIndex)-l0offset
}
if(linkIndex==1) {
parametric=d.getDH_R(linkIndex)-l1offset
}
if(d.getScriptingName().startsWith("Dummy")) {
isDummyGearWrist=true;
}
if(d.getRobotToFiducialTransform().getY()>0) {
left=true;
}
if(d.getRobotToFiducialTransform().getX()>0) {
front=true;
}
// read motor typ information out of the link configuration
LinkConfiguration conf = d.getLinkConfiguration(linkIndex);
// load the vitamin for the servo
tailLength.setMM(0.1);
CSG motor = Vitamins.get(conf.getElectroMechanicalType(),conf.getElectroMechanicalSize())
.toZMax()
.movez(numbers.JointSpacing/2.0+numbers.LooseTolerance)
// Is this value actually something in the CSV?
double distanceToMotorTop = getDistanceFromCenterToMotorTop(d,linkIndex);
println "Center to horn distance "+distanceToMotorTop
// a list of CSG objects to be rendered
ArrayList<CSG> back =[]
// get the UI manipulator for the link
Affine dGetLinkObjectManipulator = d.getLinkObjectManipulator(linkIndex)
// UI manipulator for the root of the limb
Affine root = d.getRootListener()
double link1Rotz=-90
double MototRetractDist =15
String motorKey = "Motor"+d.getScriptingName()+":"+linkIndex
String leftMotorScrewKey = "LeftMotorScrew"+d.getScriptingName()+":"+linkIndex
String rightMotorScrewKey = "RightMotorScrew"+d.getScriptingName()+":"+linkIndex
String leftLinkScrewKey = "LeftLinkScrew"+d.getScriptingName()+":"+linkIndex
String rightLinkScrewKey = "RightLinkScrew"+d.getScriptingName()+":"+linkIndex
String leftLinkNutKey = "LeftLinkNut"+d.getScriptingName()+":"+linkIndex
String rightLinkNutKey = "RightLinkNut"+d.getScriptingName()+":"+linkIndex
String leftCalibrationNutKey = "LeftCalibrationNut"+d.getScriptingName()+":"+linkIndex
String rightCalibrationNutKey = "RightCalibrationNut"+d.getScriptingName()+":"+linkIndex
String leftCalibrationScrewKey = "LeftCalibrationScrew"+d.getScriptingName()+":"+linkIndex
String rightCalibrationScrewKey = "RightCalibrationScrew"+d.getScriptingName()+":"+linkIndex
String motorDoorScrewKey = "MotorDoorScrew"+d.getScriptingName()+":"+linkIndex
String leftmotorDoorScrewKey = "LeftMotorDoorScrew"+d.getScriptingName()+":"+linkIndex
String rightmotorDoorScrewKey = "RightMotorDoorScrew"+d.getScriptingName()+":"+linkIndex
new VitaminLocation(false,motorKey,conf.getElectroMechanicalType(),conf.getElectroMechanicalSize(),new TransformNR(),link)
new VitaminLocation(false,leftMotorScrewKey,"PhillipsRoundedHeadThreadFormingScrews","M2x8",new TransformNR(),link)
new VitaminLocation(false,rightMotorScrewKey,"PhillipsRoundedHeadThreadFormingScrews","M2x8",new TransformNR(),link)
new VitaminLocation(false,leftLinkNutKey,"squareNut","M3",new TransformNR(),link)
new VitaminLocation(false,rightLinkNutKey,"squareNut","M3",new TransformNR(),link)
new VitaminLocation(false,leftCalibrationNutKey,"squareNut","M3",new TransformNR(),link)
new VitaminLocation(false,rightCalibrationNutKey,"squareNut","M3",new TransformNR(),link)
new VitaminLocation(false,leftCalibrationScrewKey,"conePointSetScrew","M3x8",new TransformNR(),link)
new VitaminLocation(false,rightCalibrationScrewKey,"conePointSetScrew","M3x8",new TransformNR(),link)
LengthParameter facets = new LengthParameter("Bolt Hole Facet Count",10,[40, 10])
facets.setMM(30)
offset.setMM(numbers.LooseTolerance)
if(linkIndex==0) {
new VitaminLocation(false,leftmotorDoorScrewKey,"PhillipsRoundedHeadThreadFormingScrews","M2x8",new TransformNR(),link)
new VitaminLocation(false,rightmotorDoorScrewKey,"PhillipsRoundedHeadThreadFormingScrews","M2x8",new TransformNR(),link)
motor=motor.rotz(left?180:0)
motor=motor.roty(front?180:0)
// the first link motor is located in the body
motor.setManipulator(root)
// pull the limb servos out the top
motor.addAssemblyStep(4, new Transform().movex(isDummyGearWrist?-30:MototRetractDist))
motor.addAssemblyStep(3, new Transform().movey(isDummyGearWrist?-30:left?-MototRetractDist*4:MototRetractDist*4))
}else {
new VitaminLocation(false,motorDoorScrewKey,"PhillipsRoundedHeadThreadFormingScrews","M2x8",new TransformNR(),link)
motor=motor.roty(left?180:0)
motor=motor.rotz(linkIndex==2?90:90+link1Rotz)
if(linkIndex==1) {
motor=motor.mirrory()
}
// the rest of the motors are located in the preior link's kinematic frame
motor.setManipulator(d.getLinkObjectManipulator(linkIndex-1))
// pull the link motors out the thin side
motor.addAssemblyStep(6, new Transform().movey(linkIndex==1?MototRetractDist*2:0).movey(linkIndex==2?-MototRetractDist*2:0))
motor.addAssemblyStep(7, new Transform().movex(linkIndex==1?MototRetractDist*2:0).movey(linkIndex==2?-MototRetractDist*2:0))
//motor.addAssemblyStep(8, new Transform().movex(-30))
}
// do not export the motors to STL for manufacturing
motor.setManufacturing({return null})
motor.setColor(Color.BLUE)
//Start the horn link
// move the horn from tip of the link space, to the Motor of the last link space
// note the hore is moved to the centerline distance value before the transform to link space
CSG movedHorn = resinPrintServoMount.movez(distanceToMotorTop)
if(linkIndex==0)
movedHorn=movedHorn.roty(front?180:0)
else
movedHorn=movedHorn.roty(left?180:0)
CSG myServoHorn = moveDHValues(movedHorn,d,linkIndex)
if(!isDummyGearWrist) {
if(linkIndex==0)
myServoHorn.addAssemblyStep(9, new Transform().movey(front?10:-10))
else
myServoHorn.addAssemblyStep(9, new Transform().movez(left?-10:10))
}else {
myServoHorn.addAssemblyStep(4, new Transform().movex(isDummyGearWrist?-30:30))
}
//reorent the horn for resin printing
myServoHorn.setManufacturing({incoming ->
return null;//reverseDHValues(incoming, d, linkIndex).roty(linkIndex==0?(front?180:0):(left?180:0)).toZMin()
//.roty(45)
//.movez(5)
})
//myServoHorn.getStorage().set("bedType", "resin")
//myServoHorn.setPrintBedNumber(4)
//myServoHorn.setName("Resin Horn "+linkIndex+" "+d.getScriptingName())
// attach this links manipulator
myServoHorn.setManipulator(dGetLinkObjectManipulator)
back.add(myServoHorn)
//end horn link
if(isDummyGearWrist) {
motor.addAssemblyStep(3, new Transform().movez(front?60:-60))
myServoHorn.addAssemblyStep(3, new Transform().movey(front?-50:50))
CSG tmp = getGearLink()
.roty(front?180:0)
if(front)
tmp=tmp.toZMax()
else
tmp=tmp.toZMin()
distanceToMotorTop+=1.5
tmp=tmp.movez((front?-1:1)*distanceToMotorTop)
CSG wrist= moveDHValues(tmp, d, linkIndex)
wrist.addAssemblyStep(4, new Transform().movex(isDummyGearWrist?-30:30))
wrist.addAssemblyStep(3, new Transform().movey(front?-20:20))
//.rotx(90)
wrist.setName("DriveGear"+d.getScriptingName())
wrist.setManufacturing({ incoming ->
return incoming.rotx(front?-90:90).toZMin().toXMin().toYMin()
})
wrist.getStorage().set("bedType", "ff-One")
wrist.setPrintBedNumber(1)
wrist.setManipulator(d.getLinkObjectManipulator(linkIndex))
back.add(wrist)
}else {
double coverDistance=80
if(linkIndex==1) {
// this section is a place holder to visualize the tip of the limb
CSG kneeCover = Vitamins.get(ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/Marcos.git",
"ShoulderCover.stl"))
.rotz(link1Rotz)
if(left)
kneeCover=kneeCover.mirrorz()
kneeCover=kneeCover.mirrory()
kneeCover.setManipulator(d.getLinkObjectManipulator(linkIndex-1))
kneeCover.setManufacturing({incoming->
return incoming.rotx(-90).toZMin().roty(90).toZMin()
})
kneeCover.getStorage().set("bedType", "ff-Two")
kneeCover.setPrintBedNumber(left?2:5)
kneeCover.setName("ShoulderCover"+d.getScriptingName())
kneeCover.addAssemblyStep(12, new Transform().movex(10))
kneeCover.addAssemblyStep(11, new Transform().movez(left?-coverDistance:coverDistance))
back.add(kneeCover)
CSG knee = Vitamins.get(ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/Marcos.git",
"Shoulder.stl"))
.rotz(link1Rotz)
if(left)
knee=knee.mirrorz()
knee=knee.mirrory()
knee.setManipulator(d.getLinkObjectManipulator(linkIndex-1))
knee.setManufacturing({incoming->
return incoming.rotx(-90).roty(-90).toZMin()
})
knee.getStorage().set("bedType", "ff-Two")
knee.setPrintBedNumber(2)
knee.setName("Shoulder"+d.getScriptingName())
back.add(knee)
}
if(linkIndex==2) {
// this section is a place holder to visualize the tip of the limb
CSG kneeCover = Vitamins.get(ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/Marcos.git",
"KneeCover.stl"))
.rotx(180)
if(!left)
kneeCover=kneeCover.mirrorz()
kneeCover.setManipulator(d.getLinkObjectManipulator(linkIndex-1))
kneeCover.setManufacturing({incoming->
return incoming.rotx(180).rotx(-90).toZMin()
})
kneeCover.getStorage().set("bedType", "ff-One")
kneeCover.setPrintBedNumber(1)
kneeCover.setName("KneeCover"+d.getScriptingName())
kneeCover.addAssemblyStep(12, new Transform().movey(-10))
kneeCover.addAssemblyStep(11, new Transform().movez(left?-coverDistance:coverDistance))
back.add(kneeCover)
CSG knee = Vitamins.get(ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/Marcos.git",
"Knee"+(left?"Left":"Right")+".stl"))
.rotx(180)
knee.setManipulator(d.getLinkObjectManipulator(linkIndex-1))
knee.setManufacturing({incoming->
return incoming.rotx(-180).rotx(-90).toZMin().rotz(left?180:0)
})
knee.getStorage().set("bedType", "ff-One")
knee.setPrintBedNumber(1)
knee.setName("Knee"+d.getScriptingName())
back.add(knee)
CSG foot = getFoot(d.getDH_R(linkIndex))
foot.setManipulator(dGetLinkObjectManipulator)
foot.setManufacturing({incoming->
return incoming.rotx(90).roty(90-numbers.FootAngle).toZMin().rotz(front?180:0)
})
foot.getStorage().set("bedType", "ff-Two")
foot.setPrintBedNumber(3)
foot.setName("Foot"+d.getScriptingName())
back.add(foot)
}
double zrotValDrive = -d.getDH_Theta(linkIndex)
if(linkIndex==1) {
zrotValDrive+=45
}
if(linkIndex==2) {
zrotValDrive+=(-90+numbers.FootAngle)+1
}
double zrotVal = -d.getDH_Theta(linkIndex)
if(linkIndex==1) {
zrotVal+=45
}
if(linkIndex==2) {
zrotVal+=(-90+numbers.FootAngle)
}
VitaminLocation vLLS=new VitaminLocation(false,leftLinkScrewKey,"chamferedScrew","M3x16",new TransformNR().translateX(parametric),link)
VitaminLocation vRLS=new VitaminLocation(false,rightLinkScrewKey,"chamferedScrew","M3x16",new TransformNR().translateX(parametric),link)
CSG boltlStart = MobileBaseCadManager.get(link).getVitamin(vLLS)
CSG boltrStart = MobileBaseCadManager.get(link).getVitamin(vRLS)
CSG boltl= moveDHValues(boltlStart
.rotx(180)
.toZMin()
.movez(-(distanceToMotorTop+numbers.LinkHeight))
.rotz(zrotVal)
,d,linkIndex)
CSG boltr= moveDHValues(boltrStart
.rotx(0)
.toZMax()
.movez((distanceToMotorTop+numbers.LinkHeight))
.rotz(zrotVal)
,d,linkIndex)
boltl.setManipulator(dGetLinkObjectManipulator)
boltr.setManipulator(dGetLinkObjectManipulator)
boltl.setManufacturing({return null})
boltr.setManufacturing({return null})
CSG movedDrive = calibrationLink(parametric,boltlStart)
.movez(distanceToMotorTop)//.rotz(180)
double xrotDrive=180
xrotDrive+=linkIndex==0&&(!front)?180:0
xrotDrive+=linkIndex!=0&&(!left)?180:0
movedDrive=movedDrive.rotx(xrotDrive)
movedDrive=movedDrive.rotz(zrotValDrive)
CSG myDriveLink = moveDHValues(movedDrive,d,linkIndex)
back.addAll([boltr, boltl])
if(linkIndex==0) {
boltl.addAssemblyStep(10, new Transform().movey(25))
myDriveLink.addAssemblyStep(9, new Transform().movey(front?20:-20))
}else {
boltl.addAssemblyStep(10, new Transform().movez(-25))
myDriveLink.addAssemblyStep(9, new Transform().movez(left?-20:20))
}
//reorent the horn for resin printing
myDriveLink.setManufacturing({incoming ->
return reverseDHValues(incoming.rotz(-zrotValDrive).rotx(-xrotDrive), d, linkIndex).toZMin()
})
myDriveLink.getStorage().set("bedType", "ff-Two")
myDriveLink.setPrintBedNumber(2)
myDriveLink.setName("DriveLink "+linkIndex+" "+d.getScriptingName())
// attach this links manipulator
myDriveLink.setManipulator(dGetLinkObjectManipulator)
back.add(myDriveLink)
double kinematicsLen = d.getDH_R(linkIndex)
double staticOffset = 55.500-numbers.LinkLength-endOfPassiveLinkToBolt
double calculated = kinematicsLen-staticOffset
double xrot=0
CSG linkCSG = passiveLink(parametric,boltrStart)
.movez(distanceToMotorTop)
xrot+=linkIndex==0&&(!front)?180:0
xrot+=linkIndex!=0&&(!left)?180:0
linkCSG=linkCSG.rotx(xrot)
linkCSG=linkCSG.rotz(zrotVal)
CSG wrist= moveDHValues(linkCSG, d, linkIndex)
if(linkIndex!=0) {
double dist = 25;
boltr.addAssemblyStep(10, new Transform().movez(dist))
wrist.addAssemblyStep(10, new Transform().movez(left?5:-5))
}else {
boltr.addAssemblyStep(10, new Transform().movey(-25))
wrist.addAssemblyStep(10, new Transform().movey(front?-5:5))
}
//.rotx(90)
wrist.setName("PassiveLink"+d.getScriptingName()+linkIndex)
wrist.setManufacturing({ incoming ->