def __make_y_beams(self):
x = self.parameters['beam_width']
y = self.parameters['y']
z = self.parameters['z']
y_beam = t_slotted.Extrusion(x=x, y=y, z=z)
y_beam_tx = self.parameters['x'] / 2 - self.parameters['beam_width'] / 2
y_beam_ty = 0
y_beam_tz = self.x_beam_tz
bn = t_slotted.LBracket(x=-2, y=2, z=2, extrusion_axis=[0, 1, 0])
bn_tx = -self.parameters['beam_width'] / 2
b_ty = self.wc_parameters['rail_rail_distance'] / 2 - 1
b_tz = -self.parameters['z'] / 2
bsn = po.LinearArray(bn, x=bn_tx, y=[-b_ty, b_ty], z=b_tz)
bp = t_slotted.LBracket(x=2, y=2, z=2, extrusion_axis=[0, 1, 0])
bp_tx = self.parameters['beam_width'] / 2
bsp = po.LinearArray(bp, x=bp_tx, y=[-b_ty, b_ty], z=b_tz)
y_beam |= [bsn, bsp]
y_beams = po.LinearArray(y_beam,
x=[-y_beam_tx, y_beam_tx],
y=y_beam_ty,
z=y_beam_tz)
y_beams.set_color(self.parameters['color'], recursive=True)
self.add_obj(y_beams)
def __make_laser_sensor_and_mount(self):
# Add laser sensor mount beam
lsmb_x = 2
lsmb_y = 1
lsmb_z = self.parameters['sensor_mount_beam_length']
lsmb = t_slotted.Extrusion(x=lsmb_x, y=lsmb_y, z=lsmb_z)
lsmb_tx = self.parameters['laser_sensor_tx']
lsmb_ty = self.parameters['beam_width'] / 2 + lsmb_y / 2
lsmb_tz = self.x_beam_tz - lsmb_z / 2 + self.parameters['z'] / 2
lsmb.set_color(self.parameters['color'], recursive=True)
lsmb.translate([lsmb_tx, lsmb_ty, lsmb_tz])
ls = laser_sensor_short_range.LaserSensorShortRange()
ls.rotate(angle=math.pi, axis=[1, 0, 0])
self.ls_parameters = ls.get_parameters()
lsmp = laser_sensor_short_range_mount_plate.LaserSensorShortRangeMountPlate(
)
lsmp.rotate(angle=math.pi / 2, axis=[1, 0, 0])
self.lsmp_parameters = lsmp.get_parameters()
ls_tx = self.lsmp_parameters['lssr_tx']
ls_ty = -self.ls_parameters['z'] / 2 - self.lsmp_parameters['z'] / 2
ls_tz = self.lsmp_parameters['lssr_ty']
ls.translate([ls_tx, ls_ty, ls_tz])
ls_and_mp = ls | lsmp
ls_and_mp_tx = lsmb_tx - self.lsmp_parameters['mount_hole_tx']
ls_and_mp_ty = lsmb_ty - lsmb_y / 2 - self.lsmp_parameters['z'] / 2
ls_and_mp_tz = lsmb_tz - lsmb_z / 2 + self.lsmp_parameters[
'y'] / 2 - 0.25
ls_and_mp.translate([ls_and_mp_tx, ls_and_mp_ty, ls_and_mp_tz])
ls_and_mount = lsmb | ls_and_mp
self.add_obj(ls_and_mount)
# Add brackets
b_x = 1
b_y = 1
b_z = 2
b_tx = lsmb_x / 2
b_ty = self.parameters['beam_width'] / 2
b_tz = 0
b1 = t_slotted.LBracket(x=b_x, y=b_y, z=b_z, extrusion_axis=[0, 0, 1])
b1.translate([b_tx, b_ty, b_tz])
b4 = t_slotted.LBracket(x=-b_x, y=b_y, z=b_z, extrusion_axis=[0, 0, 1])
b4.translate([-b_tx, b_ty, b_tz])
bs = b1 | b4
bs.translate([lsmb_tx, 0, self.x_beam_tz])
bs.set_color(self.parameters['color'], recursive=True)
self.add_obj(bs)
def __make_pillowblocks_and_plates(self):
pb = pillowblock.PillowBlock()
self.pb_parameters = pb.get_parameters()
pmp = pillowblock_mount_plate.PillowblockMountPlate()
self.pmp_parameters = pillowblock_mount_plate.get_parameters()
self.pb_tx = self.parameters['x']/2 - self.pmp_parameters['y']/2
pb_ax = [-self.pb_tx,self.pb_tx]
self.wc_parameters = water_channel.get_parameters()
pb_ty = self.wc_parameters['rail_rail_distance']/2
pb_ay = [-pb_ty,pb_ty]
pb_az = [0]
self.pmp_tz = self.pb_parameters['y']/2 + self.pmp_parameters['z']/2
pmp.translate([0,0,self.pmp_tz])
pb_and_pmp = pb | pmp
pbs_and_pmps = po.LinearArray(pb_and_pmp,x=pb_ax,y=pb_ay,z=pb_az)
self.add_obj(pbs_and_pmps)
# Add sled-sled connection brackets and beams
bracket = t_slotted.LBracket(x=1,y=2,z=1,extrusion_axis=[0,1,0])
bracket2 = po.LinearArray(bracket,x=0,y=[-1,1],z=0)
beam = t_slotted.Extrusion(x=1,y=5,z=1)
beam.translate([-0.5,0,0.5])
b2b = bracket2 | beam
b2bs_ax = [-self.pb_tx - 4]
b2bs_ay = [-pb_ty, pb_ty]
b2bs_az = [self.pmp_tz + self.pmp_parameters['z']/2]
b2bs = po.LinearArray(b2b,b2bs_ax,b2bs_ay,b2bs_az)
b2bs.set_color(self.parameters['color'],recursive=True)
self.add_obj(b2bs)
def __make_brackets(self):
b = t_slotted.LBracket(x=-1, y=2, z=1, extrusion_axis=[0, 1, 0])
b_x = self.parameters['x'] / 2 + 2
b_y = self.wc_parameters['rail_rail_distance'] / 2 + 1
b_z = self.x_beam_tz - self.parameters['z'] / 2
bs = po.LinearArray(b, x=b_x, y=[-b_y, b_y], z=b_z)
bs.set_color(self.parameters['color'], recursive=True)
self.add_obj(bs)
def __make_x_beam(self):
beam_width = self.parameters['beam_width']
x = self.parameters['x'] - beam_width * 2
y = beam_width
z = self.parameters['z']
x_beam = t_slotted.Extrusion(x=x, y=y, z=z)
# self.x_beam_ty = -0.375/2
self.x_beam_ty = 0
self.x_beam_tz = self.pmp_tz + self.pmp_parameters['z'] / 2 + z / 2
b1 = t_slotted.LBracket(x=2, y=2, z=2, extrusion_axis=[0, 0, 1])
b1.translate([-x / 2, beam_width / 2, 0])
b2 = t_slotted.LBracket(x=-2, y=2, z=2, extrusion_axis=[0, 0, 1])
b2.translate([x / 2, beam_width / 2, 0])
b3 = t_slotted.LBracket(x=2, y=-2, z=2, extrusion_axis=[0, 0, 1])
b3.translate([-x / 2, -beam_width / 2, 0])
b4 = t_slotted.LBracket(x=-2, y=-2, z=2, extrusion_axis=[0, 0, 1])
b4.translate([x / 2, -beam_width / 2, 0])
x_beam |= [b1, b2, b3, b4]
x_beam.translate([0, self.x_beam_ty, self.x_beam_tz])
x_beam.set_color(self.parameters['color'], recursive=True)
self.add_obj(x_beam)
def __make_force_sensor_mount_beams(self):
self.lcmp_parameters = loadcell_mount_plate.get_parameters()
fsmb_x = 2
fsmb_y = 1
fsmb_z = self.parameters['sensor_mount_beam_length']
fsmb = t_slotted.Extrusion(x=fsmb_x, y=fsmb_y, z=fsmb_z)
fsmb_tx = self.aba.lcmpu_tx - self.lcmp_parameters[
'z'] / 2 - fsmb_x / 2 - 1
fsmb_ty = self.parameters['beam_width'] / 2 + fsmb_y / 2
fsmb_tz = self.x_beam_tz - fsmb_z / 2 + self.parameters['z'] / 2
fsmbs = po.LinearArray(fsmb,
x=fsmb_tx,
y=[-fsmb_ty, fsmb_ty],
z=fsmb_tz)
fsmbs.set_color(self.parameters['color'], recursive=True)
self.add_obj(fsmbs)
# Add brackets
b_x = 1
b_y = 1
b_z = 2
b_tx = fsmb_x / 2
b_ty = self.parameters['beam_width'] / 2
b_tz = 0
b1 = t_slotted.LBracket(x=b_x, y=b_y, z=b_z, extrusion_axis=[0, 0, 1])
b1.translate([b_tx, b_ty, b_tz])
b2 = t_slotted.LBracket(x=b_x, y=-b_y, z=b_z, extrusion_axis=[0, 0, 1])
b2.translate([b_tx, -b_ty, b_tz])
b3 = t_slotted.LBracket(x=-b_x,
y=-b_y,
z=b_z,
extrusion_axis=[0, 0, 1])
b3.translate([-b_tx, -b_ty, b_tz])
b4 = t_slotted.LBracket(x=-b_x, y=b_y, z=b_z, extrusion_axis=[0, 0, 1])
b4.translate([-b_tx, b_ty, b_tz])
bs = b1 | [b2, b3, b4]
bs.translate([fsmb_tx, 0, self.x_beam_tz])
bs.set_color(self.parameters['color'], recursive=True)
self.add_obj(bs)
# Add cross beam
cb_x = 1
cb_y = fsmb_ty * 2 + fsmb_y
cb_z = 1
cb = t_slotted.Extrusion(x=cb_x, y=cb_y, z=cb_z)
cb_tx = fsmb_tx + fsmb_x / 2 + cb_x / 2
cb_ty = 0
# cb_tz = fsmb_tz - fsmb_z/2 + cb_z/2
cb_tz = self.aba.lcmpu_tz - 0.125
cb.translate([cb_tx, cb_ty, cb_tz])
cb.set_color(self.parameters['color'])
self.add_obj(cb)
# Add first set of cross beam brackets
b = t_slotted.LBracket(x=1, y=1, z=1, extrusion_axis=[0, 1, 0])
b_tx = 0
b_ty = cb_y / 2 - 0.5
b_tz = 0
bs = po.LinearArray(b, x=b_tx, y=[-b_ty, b_ty], z=b_tz)
bs_tx = cb_tx - 0.5
bs_ty = cb_ty
bs_tz = cb_tz + 0.5
bs.translate([bs_tx, bs_ty, bs_tz])
bs.set_color(self.parameters['color'], recursive=True)
self.add_obj(bs)
# Add second set of cross beam brackets
b_tx = bs_tx
b_ty = b_ty - 0.5
b_tz = bs_tz - 0.5
b1 = t_slotted.LBracket(x=-1, y=-1, z=1, extrusion_axis=[0, 0, 1])
b1.translate([b_tx, b_ty, b_tz])
b1.set_color(self.parameters['color'], recursive=True)
b2 = t_slotted.LBracket(x=-1, y=1, z=1, extrusion_axis=[0, 0, 1])
b2.translate([b_tx, -b_ty, b_tz])
b2.set_color(self.parameters['color'], recursive=True)
self.add_obj([b1, b2])
def __make_brackets(self):
# Front and back sets
bracket_tx = 0
bracket_ty = self.ab_parameters['slide_width']/2 - 1
bracket_tz = (self.parameters['y_beam_separation'] - 1)/2
bracket1 = t_slotted.LBracket(x=1,y=1,z=1,extrusion_axis=[1,0,0])
bracket1.translate([bracket_tx,-bracket_ty,-bracket_tz])
bracket2 = t_slotted.LBracket(x=1,y=-1,z=1,extrusion_axis=[1,0,0])
bracket2.translate([bracket_tx,bracket_ty,-bracket_tz])
bracket3 = t_slotted.LBracket(x=1,y=-1,z=-1,extrusion_axis=[1,0,0])
bracket3.translate([bracket_tx,bracket_ty,bracket_tz])
bracket4 = t_slotted.LBracket(x=1,y=1,z=-1,extrusion_axis=[1,0,0])
bracket4.translate([bracket_tx,-bracket_ty,bracket_tz])
brackets = bracket1 | [bracket2,bracket3,bracket4]
brackets_tx = self.slider_holes_tx
brackets_ty = 0
brackets_tz = self.z_beam_tz
brackets = po.LinearArray(brackets,x=[-brackets_tx,brackets_tx],y=brackets_ty,z=brackets_tz)
brackets.set_color(self.parameters['color'],recursive=True)
self.add_obj(brackets)
# Left and right sets
bracket_tx = (self.slider_holes_tx*2 - 1)/2
bracket_ty = 0
bracket_tz = (self.parameters['y_beam_separation'] - 2)/2
bracket1 = t_slotted.LBracket(x=1,y=1,z=1,extrusion_axis=[0,1,0])
bracket1.translate([-bracket_tx,bracket_ty,-bracket_tz])
bracket2 = t_slotted.LBracket(x=1,y=1,z=-1,extrusion_axis=[0,1,0])
bracket2.translate([-bracket_tx,bracket_ty,bracket_tz])
bracket3 = t_slotted.LBracket(x=-1,y=1,z=-1,extrusion_axis=[0,1,0])
bracket3.translate([bracket_tx,bracket_ty,bracket_tz])
bracket4 = t_slotted.LBracket(x=-1,y=1,z=1,extrusion_axis=[0,1,0])
bracket4.translate([bracket_tx,bracket_ty,-bracket_tz])
brackets = bracket1 | [bracket2,bracket3,bracket4]
brackets_tx = 0
brackets_ty = self.ab_parameters['slide_width']/2 - 0.5
brackets_tz = self.z_beam_tz - 0.5
brackets = po.LinearArray(brackets,x=brackets_tx,y=[-brackets_ty,brackets_ty],z=brackets_tz)
brackets.set_color(self.parameters['color'],recursive=True)
self.add_obj(brackets)
# Bottom set
bracket_tx = (self.slider_holes_tx*2 - 1)/2
bracket_ty = self.ab_parameters['slide_width']/2 - 1
bracket_tz = 0
bracket1 = t_slotted.LBracket(x=1,y=1,z=1,extrusion_axis=[0,0,1])
bracket1.translate([-bracket_tx,-bracket_ty,bracket_tz])
bracket2 = t_slotted.LBracket(x=1,y=-1,z=1,extrusion_axis=[0,0,1])
bracket2.translate([-bracket_tx,bracket_ty,bracket_tz])
bracket3 = t_slotted.LBracket(x=-1,y=-1,z=1,extrusion_axis=[0,0,1])
bracket3.translate([bracket_tx,bracket_ty,bracket_tz])
bracket4 = t_slotted.LBracket(x=-1,y=1,z=1,extrusion_axis=[0,0,1])
bracket4.translate([bracket_tx,-bracket_ty,bracket_tz])
brackets = bracket1 | [bracket2,bracket3,bracket4]
brackets_tx = 0
brackets_ty = 0
brackets_tz = self.x_beam_tz
brackets.translate([brackets_tx,brackets_ty,brackets_tz])
brackets.set_color(self.parameters['color'],recursive=True)
self.add_obj(brackets)
# Submersible mount beam brackets
bracket_tx = 0.5
bracket_ty = 0
bracket_tz = (self.parameters['y_beam_separation'] - 2)/2
bracket1 = t_slotted.LBracket(x=1,y=1,z=1,extrusion_axis=[0,1,0])
bracket1.translate([bracket_tx,bracket_ty,-bracket_tz])
bracket2 = t_slotted.LBracket(x=1,y=1,z=-1,extrusion_axis=[0,1,0])
bracket2.translate([bracket_tx,bracket_ty,bracket_tz])
bracket3 = t_slotted.LBracket(x=-1,y=1,z=-1,extrusion_axis=[0,1,0])
bracket3.translate([-bracket_tx,bracket_ty,bracket_tz])
bracket4 = t_slotted.LBracket(x=-1,y=1,z=1,extrusion_axis=[0,1,0])
bracket4.translate([-bracket_tx,bracket_ty,-bracket_tz])
brackets = bracket1 | [bracket2,bracket3,bracket4]
brackets_tx = 0
brackets_ty = self.ab_parameters['slide_width']/2 - 0.5
brackets_tz = self.z_beam_tz - 0.5
brackets = po.LinearArray(brackets,x=brackets_tx,y=[-brackets_ty,brackets_ty],z=brackets_tz)
brackets.translate([self.smb_tx,0,0])
brackets.set_color(self.parameters['color'],recursive=True)
self.add_obj(brackets)