Jerry
104 lines
3.1 KiB
Python
104 lines
3.1 KiB
Python
from __future__ import annotations
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import sys
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from pathlib import Path
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V2_DIR = Path(__file__).resolve().parents[1]
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PARTS_DIR = V2_DIR / "parts"
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for path in (V2_DIR, PARTS_DIR):
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if str(path) not in sys.path:
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sys.path.insert(0, str(path))
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import servo_horn_yoke
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YOKE_PLATE_FACE_X_MM = (
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servo_horn_yoke.SERVO_HORN_AXIS_X_MM
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- servo_horn_yoke.YOKE_HORN_AXIS_TO_WEB_OUTER_LENGTH_MM
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)
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YOKE_HORN_AXIS_Y_MM = -9.1
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YOKE_HORN_AXIS_Z_MM = 0.0
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# The horn's outer contact face seats directly on the outside yoke plate face.
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YOKE_HORN_MATING_FACE_X_MM = YOKE_PLATE_FACE_X_MM
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# Use the output horn face against the yoke plate so the servo's case-bottom
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# cable face points toward the next roll-link bracket instead of away from it.
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STS3215_OUTPUT_HORN_AXIS_LOCAL_X_MM = -25.5
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STS3215_OUTPUT_HORN_FACE_LOCAL_Y_MM = 9.2
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MATE_TOLERANCE_MM = 1e-6
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STS3215_DESIGN_TRANSFORM = [
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0.0,
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1.0,
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0.0,
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(
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YOKE_HORN_MATING_FACE_X_MM
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- STS3215_OUTPUT_HORN_FACE_LOCAL_Y_MM
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),
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-1.0,
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0.0,
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0.0,
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YOKE_HORN_AXIS_Y_MM + STS3215_OUTPUT_HORN_AXIS_LOCAL_X_MM,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0,
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]
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STS3215_TRANSFORM = list(
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servo_horn_yoke.multiply_transforms(
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servo_horn_yoke.DESIGN_TO_STANDALONE_TRANSFORM,
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STS3215_DESIGN_TRANSFORM,
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)
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)
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def _validate_sts3215_transform() -> None:
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design_transform = servo_horn_yoke.multiply_transforms(
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servo_horn_yoke.STANDALONE_TO_DESIGN_TRANSFORM,
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STS3215_TRANSFORM,
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)
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horn_face_x = (
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design_transform[1] * STS3215_OUTPUT_HORN_FACE_LOCAL_Y_MM
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+ design_transform[3]
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)
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if abs(horn_face_x - YOKE_HORN_MATING_FACE_X_MM) > MATE_TOLERANCE_MM:
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raise RuntimeError(
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"STS3215 output horn face is not seated on the yoke horn mating face: "
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f"{horn_face_x:.6f} != {YOKE_HORN_MATING_FACE_X_MM:.6f}"
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)
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horn_axis_y = (
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design_transform[4] * STS3215_OUTPUT_HORN_AXIS_LOCAL_X_MM
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+ design_transform[7]
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)
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if abs(horn_axis_y - YOKE_HORN_AXIS_Y_MM) > MATE_TOLERANCE_MM:
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raise RuntimeError(
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"STS3215 output horn axis is not centered on the yoke horn face: "
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f"{horn_axis_y:.6f} != {YOKE_HORN_AXIS_Y_MM:.6f}"
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)
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horn_axis_z = design_transform[11]
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if abs(horn_axis_z - YOKE_HORN_AXIS_Z_MM) > MATE_TOLERANCE_MM:
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raise RuntimeError(
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"STS3215 output horn axis Z is not centered on the yoke horn face: "
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f"{horn_axis_z:.6f} != {YOKE_HORN_AXIS_Z_MM:.6f}"
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)
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def gen_step() -> dict[str, object]:
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_validate_sts3215_transform()
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return {
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"instances": [
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{
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"path": "../parts/servo_horn_yoke.step",
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"name": "servo_horn_yoke",
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"transform": [
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1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0,
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],
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},
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{
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"path": "../parts/imports/sts3215.step",
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"name": "sts3215",
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"transform": STS3215_TRANSFORM,
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},
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],
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}
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