def sub_gimbal_freecad_construction(c, ai_bottom_angle, ai_top_angle):
""" generate the the freecad-object gimbal
"""
# intermediate parameters
z1 = c['base_thickness'] + c['bell_face_height'] + c['leg_length']
z2 = c['inter_axle_length']
# make the freecad-objects from bell_bagel_assembly and cross_cube
i_bba = bell_bagel_assembly.bba()
i_bba.apply_external_constraint(c)
fc_bb_bottom = i_bba.get_fc_obj_3dconf('bell_bagel_assembly_conf1')
fc_bb_top = fc_bb_bottom.copy()
i_cross_cube = cross_cube.cross_cube()
i_cross_cube.apply_external_constraint(cross_cube_constraint(c))
fc_cc = i_cross_cube.get_fc_obj_3dconf('cross_cube_assembly_with_rods_and_axles')
# place
fc_bb_bottom.rotate(Base.Vector(0,0,0),Base.Vector(0,0,1),90)
fc_bb_top.rotate(Base.Vector(0,0,z1),Base.Vector(0,1,0),180)
fc_bb_top.translate(Base.Vector(0,0,z2))
fc_cc.translate(Base.Vector(-1*c['cube_width']/2.0, -1*c['cube_width']/2.0, z1-(c['top_thickness'] + c['height_margin'] + c['axle_diameter']/2.0)))
fc_cc.rotate(Base.Vector(0,0,0),Base.Vector(0,0,1),90)
# apply the rotation
fc_bb_top.rotate(Base.Vector(0,0,z1+z2),Base.Vector(0,1,0),ai_top_angle*180/math.pi)
fc_top = Part.makeCompound([fc_bb_top, fc_cc])
fc_top.rotate(Base.Vector(0,0,z1),Base.Vector(1,0,0),ai_bottom_angle*180/math.pi)
r_fc_gimbal = Part.makeCompound([fc_bb_bottom, fc_top])
return(r_fc_gimbal)
def sub_gimbal_freecad_construction(c, ai_bottom_angle, ai_top_angle):
""" generate the the freecad-object gimbal
"""
# intermediate parameters
z1 = c['base_thickness'] + c['bell_face_height'] + c['leg_length']
z2 = c['inter_axle_length']
# make the freecad-objects from bell_bagel_assembly and cross_cube
i_bba = bell_bagel_assembly.bba()
i_bba.apply_external_constraint(c)
fc_bb_bottom = i_bba.get_fc_obj_3dconf('bell_bagel_assembly_conf1')
fc_bb_top = fc_bb_bottom.copy()
i_cross_cube = cross_cube.cross_cube()
i_cross_cube.apply_external_constraint(cross_cube_constraint(c))
fc_cc = i_cross_cube.get_fc_obj_3dconf(
'cross_cube_assembly_with_rods_and_axles')
# place
fc_bb_bottom.rotate(Base.Vector(0, 0, 0), Base.Vector(0, 0, 1), 90)
fc_bb_top.rotate(Base.Vector(0, 0, z1), Base.Vector(0, 1, 0), 180)
fc_bb_top.translate(Base.Vector(0, 0, z2))
fc_cc.translate(
Base.Vector(
-1 * c['cube_width'] / 2.0, -1 * c['cube_width'] / 2.0,
z1 - (c['top_thickness'] + c['height_margin'] +
c['axle_diameter'] / 2.0)))
fc_cc.rotate(Base.Vector(0, 0, 0), Base.Vector(0, 0, 1), 90)
# apply the rotation
fc_bb_top.rotate(Base.Vector(0, 0, z1 + z2), Base.Vector(0, 1, 0),
ai_top_angle * 180 / math.pi)
fc_top = Part.makeCompound([fc_bb_top, fc_cc])
fc_top.rotate(Base.Vector(0, 0, z1), Base.Vector(1, 0, 0),
ai_bottom_angle * 180 / math.pi)
r_fc_gimbal = Part.makeCompound([fc_bb_bottom, fc_top])
return (r_fc_gimbal)
def gimbal_2d_construction(c):
""" construct the 2D-figures with outlines at the A-format for the gimbal design
"""
# bell_bagel_assembly
i_bba = bell_bagel_assembly.bba()
i_bba.apply_external_constraint(c)
bell_face = i_bba.get_A_figure('bell_face')
# cross_cube
i_cross_cube = cross_cube.cross_cube()
i_cross_cube.apply_external_constraint(cross_cube_constraint(c))
crest_A = i_cross_cube.get_A_figure('crest_A_fig')
crest_B = i_cross_cube.get_A_figure('crest_B_fig')
## gimbal 2D sketch
# intermediate parameters
bagel_z = c['base_thickness'] + c['bell_face_height'] + c['leg_length']
crest_A_axle_z = c['top_thickness'] + c['height_margin'] + c['axle_diameter']/2.0
crest_B_axle_z = crest_A_axle_z + c['inter_axle_length']
#
bottom_bell_face = cnc25d_api.rotate_and_translate_figure(bell_face, 0, bagel_z, 0.0, 0.0, 0.0)
top_bell_face = cnc25d_api.rotate_and_translate_figure(bell_face, 0, bagel_z, math.pi+c['top_angle'], 0.0, crest_B_axle_z-bagel_z)
bottom_crest_A = cnc25d_api.rotate_and_translate_figure(crest_A, c['cube_width']/2.0, crest_A_axle_z, c['bottom_angle'], -1*c['cube_width']/2.0, bagel_z-crest_A_axle_z)
top_crest_B = cnc25d_api.rotate_and_translate_figure(crest_B, c['cube_width']/2.0, crest_B_axle_z, 0.0, -1*c['cube_width']/2.0, 0.0)
### figures output
x_space = 1.2*max(c['gear_module']*c['virtual_tooth_nb'], c['base_diameter'])
## gimbal_sketch
gimbal_sketch_figure = []
gimbal_sketch_figure.extend(cnc25d_api.rotate_and_translate_figure(bottom_bell_face, 0.0, 0.0, 0.0, 0*x_space, 0))
gimbal_sketch_figure.extend(cnc25d_api.rotate_and_translate_figure(bottom_crest_A, 0.0, 0.0, 0.0, 0*x_space, 0))
gimbal_sketch_figure.extend(cnc25d_api.rotate_and_translate_figure(top_bell_face, 0.0, 0.0, 0.0, 1*x_space, 0))
gimbal_sketch_figure.extend(cnc25d_api.rotate_and_translate_figure(top_crest_B, 0.0, 0.0, 0.0, 1*x_space, 0))
###
r_figures = {}
r_height = {}
# get figures and heights from bell_bagel_assembly
(bba_figs, bba_heights) = i_bba.apply_2d_constructor()
r_figures.update(bba_figs)
r_height.update(bba_heights)
# get figures and heights from cross_cube
(cc_figs, cc_heights) = i_cross_cube.apply_2d_constructor()
r_figures.update(cc_figs)
r_height.update(cc_heights)
#
r_figures['gimbal_sketch'] = gimbal_sketch_figure
r_height['gimbal_sketch'] = 1.0
###
return((r_figures, r_height))
def gimbal_constraint_constructor(ai_parser, ai_variant=0):
"""
Add arguments relative to the gimbal
"""
r_parser = ai_parser
### inheritance from bell_bagel_assembly
i_bell_bagel_assembly = bell_bagel_assembly.bba()
r_parser = i_bell_bagel_assembly.get_constraint_constructor()(r_parser, 1)
### inheritance from cross_cube
i_cross_cube = cross_cube.cross_cube()
r_parser = i_cross_cube.get_constraint_constructor()(r_parser, 1)
### roll-pitch angles
r_parser.add_argument(
'--bottom_angle',
'--ba',
action='store',
type=float,
default=0.0,
help="Set the bottom angle (in radians). Default: 0.0")
r_parser.add_argument('--top_angle',
'--ta',
action='store',
type=float,
default=0.0,
help="Set the top angle (in radians). Default: 0.0")
### pan_tilt angles # can be set only if roll-pitch angles are left to 0.0
r_parser.add_argument(
'--pan_angle',
'--pan',
action='store',
type=float,
default=0.0,
help=
"Set the pan angle (in radians). Use the pan-tilt angles only if roll-pitch angles are left to 0.0. Default: 0.0"
)
r_parser.add_argument('--tilt_angle',
'--tilt',
action='store',
type=float,
default=0.0,
help="Set the tilt angle (in radians). Default: 0.0")
### output
# return
return (r_parser)
def gimbal_info(c):
""" create the text info related to the bagel design
"""
r_info = ""
i_bell_bagel = bell_bagel_assembly.bba()
i_bell_bagel.apply_external_constraint(c)
r_info += i_bell_bagel.get_info()
i_cross_cube = cross_cube.cross_cube()
i_cross_cube.apply_external_constraint(c)
r_info += i_cross_cube.get_info()
r_info += """
roll-pitch angles:
bottom_angle: {:0.3f} (radian) {:0.3f} (degree)
top_angle: {:0.3f} (radian) {:0.3f} (degree)
pan-tilt conversion:
pan_angle: {:0.3f} (radian) {:0.3f} (degree)
tilt_angle: {:0.3f} (radian) {:0.3f} (degree)
roll-pitch pan-tilt drit angle: {:0.3f} (radian) {:0.3f} (degree)
""".format(c['bottom_angle'], c['bottom_angle']*180/math.pi, c['top_angle'], c['top_angle']*180/math.pi, c['pan_angle'], c['pan_angle']*180/math.pi, c['tilt_angle'], c['tilt_angle']*180/math.pi, c['b3'], c['b3']*180/math.pi)
#print(r_info)
return(r_info)
def gimbal_constraint_constructor(ai_parser, ai_variant=0):
"""
Add arguments relative to the gimbal
"""
r_parser = ai_parser
### inheritance from bell_bagel_assembly
i_bell_bagel_assembly = bell_bagel_assembly.bba()
r_parser = i_bell_bagel_assembly.get_constraint_constructor()(r_parser, 1)
### inheritance from cross_cube
i_cross_cube = cross_cube.cross_cube()
r_parser = i_cross_cube.get_constraint_constructor()(r_parser, 1)
### roll-pitch angles
r_parser.add_argument('--bottom_angle','--ba', action='store', type=float, default=0.0,
help="Set the bottom angle (in radians). Default: 0.0")
r_parser.add_argument('--top_angle','--ta', action='store', type=float, default=0.0,
help="Set the top angle (in radians). Default: 0.0")
### pan_tilt angles # can be set only if roll-pitch angles are left to 0.0
r_parser.add_argument('--pan_angle','--pan', action='store', type=float, default=0.0,
help="Set the pan angle (in radians). Use the pan-tilt angles only if roll-pitch angles are left to 0.0. Default: 0.0")
r_parser.add_argument('--tilt_angle','--tilt', action='store', type=float, default=0.0,
help="Set the tilt angle (in radians). Default: 0.0")
### output
# return
return(r_parser)
def gimbal_info(c):
""" create the text info related to the bagel design
"""
r_info = ""
i_bell_bagel = bell_bagel_assembly.bba()
i_bell_bagel.apply_external_constraint(c)
r_info += i_bell_bagel.get_info()
i_cross_cube = cross_cube.cross_cube()
i_cross_cube.apply_external_constraint(c)
r_info += i_cross_cube.get_info()
r_info += """
roll-pitch angles:
bottom_angle: {:0.3f} (radian) {:0.3f} (degree)
top_angle: {:0.3f} (radian) {:0.3f} (degree)
pan-tilt conversion:
pan_angle: {:0.3f} (radian) {:0.3f} (degree)
tilt_angle: {:0.3f} (radian) {:0.3f} (degree)
roll-pitch pan-tilt drit angle: {:0.3f} (radian) {:0.3f} (degree)
""".format(c['bottom_angle'], c['bottom_angle'] * 180 / math.pi,
c['top_angle'], c['top_angle'] * 180 / math.pi, c['pan_angle'],
c['pan_angle'] * 180 / math.pi, c['tilt_angle'],
c['tilt_angle'] * 180 / math.pi, c['b3'], c['b3'] * 180 / math.pi)
#print(r_info)
return (r_info)
def gimbal_2d_construction(c):
""" construct the 2D-figures with outlines at the A-format for the gimbal design
"""
# bell_bagel_assembly
i_bba = bell_bagel_assembly.bba()
i_bba.apply_external_constraint(c)
bell_face = i_bba.get_A_figure('bell_face')
# cross_cube
i_cross_cube = cross_cube.cross_cube()
i_cross_cube.apply_external_constraint(cross_cube_constraint(c))
crest_A = i_cross_cube.get_A_figure('crest_A_fig')
crest_B = i_cross_cube.get_A_figure('crest_B_fig')
## gimbal 2D sketch
# intermediate parameters
bagel_z = c['base_thickness'] + c['bell_face_height'] + c['leg_length']
crest_A_axle_z = c['top_thickness'] + c[
'height_margin'] + c['axle_diameter'] / 2.0
crest_B_axle_z = crest_A_axle_z + c['inter_axle_length']
#
bottom_bell_face = cnc25d_api.rotate_and_translate_figure(
bell_face, 0, bagel_z, 0.0, 0.0, 0.0)
top_bell_face = cnc25d_api.rotate_and_translate_figure(
bell_face, 0, bagel_z, math.pi + c['top_angle'], 0.0,
crest_B_axle_z - bagel_z)
bottom_crest_A = cnc25d_api.rotate_and_translate_figure(
crest_A, c['cube_width'] / 2.0, crest_A_axle_z, c['bottom_angle'],
-1 * c['cube_width'] / 2.0, bagel_z - crest_A_axle_z)
top_crest_B = cnc25d_api.rotate_and_translate_figure(
crest_B, c['cube_width'] / 2.0, crest_B_axle_z, 0.0,
-1 * c['cube_width'] / 2.0, 0.0)
### figures output
x_space = 1.2 * max(c['gear_module'] * c['virtual_tooth_nb'],
c['base_diameter'])
## gimbal_sketch
gimbal_sketch_figure = []
gimbal_sketch_figure.extend(
cnc25d_api.rotate_and_translate_figure(bottom_bell_face, 0.0, 0.0, 0.0,
0 * x_space, 0))
gimbal_sketch_figure.extend(
cnc25d_api.rotate_and_translate_figure(bottom_crest_A, 0.0, 0.0, 0.0,
0 * x_space, 0))
gimbal_sketch_figure.extend(
cnc25d_api.rotate_and_translate_figure(top_bell_face, 0.0, 0.0, 0.0,
1 * x_space, 0))
gimbal_sketch_figure.extend(
cnc25d_api.rotate_and_translate_figure(top_crest_B, 0.0, 0.0, 0.0,
1 * x_space, 0))
###
r_figures = {}
r_height = {}
# get figures and heights from bell_bagel_assembly
(bba_figs, bba_heights) = i_bba.apply_2d_constructor()
r_figures.update(bba_figs)
r_height.update(bba_heights)
# get figures and heights from cross_cube
(cc_figs, cc_heights) = i_cross_cube.apply_2d_constructor()
r_figures.update(cc_figs)
r_height.update(cc_heights)
#
r_figures['gimbal_sketch'] = gimbal_sketch_figure
r_height['gimbal_sketch'] = 1.0
###
return ((r_figures, r_height))