def linear_2_stages():
g1 = SpurGear(10, 0.5, 0, 8)
g2 = SpurGear(50, 0.5, 0, 8)
g3 = SpurGear(13, 0.5, 0, 12)
g4 = SpurGear(78, 0.5, 0, 12)
a = Actuator(components=[GearPair(g1, g2, 0, 0), GearPair(g3, g4, 10, 0)])
return a
def broken_motored_2_stages():
s = Stepper('A', motor_data['A'])
g1 = SpurGear(10, 0.8, 0, 8)
g2 = SpurGear(50, 0.8, 0, 8)
g3 = SpurGear(13, 0.5, 0, 12)
g4 = SpurGear(80, 0.5, 0, 12)
comp = [s, GearPair(g1, g2, 10, 0), GearPair(g3, g4, -3, -2.3)]
return Actuator(components=comp)
def impossible_motored_2_stages():
s = Stepper('B', motor_data['B'])
g1 = SpurGear(10, 0.8, 0, 8)
g2 = SpurGear(35, 0.8, 0, 8)
g3 = SpurGear(25, 0.5, 0, 12)
g4 = SpurGear(80, 0.5, 0, 12)
comp = [s, GearPair(g1, g2, 10, 0), GearPair(g3, g4, -30, -2.3)]
a = Actuator(components=comp)
return a
def good_motored_2_stages():
s = Stepper('A', motor_data['A'])
g1 = SpurGear(17, 0.5, 0.15, 8)
g2 = SpurGear(60, 0.5, -0.15, 8)
g3 = SpurGear(17, 0.5, 0.15, 12)
g4 = SpurGear(78, 0.5, -0.15, 12)
comp = [s, GearPair(g1, g2, 10, 0), GearPair(g3, g4, 10, -2.3)]
a = Actuator(components=comp)
return a
def test_gear_mesh_small_stretch():
g1 = SpurGear(25, 0.5, 0, 10)
g2 = SpurGear(80, 0.5, 0, 10)
gp = GearPair(g1, g2, GearPair.stretch_margin / 2, 0)
actuator = Actuator(components=[gp])
meshes, _, space = actuator.mesh
assert np.allclose(space.bounds[:, 2], [gp.disp, gp.disp + 5.])
assert np.allclose(meshes[0].bounds[:, 2], [gp.disp, gp.disp + 5.])
assert np.allclose(meshes[1].bounds[:, 2], [gp.disp, gp.disp + 5.])
def test_gear_mesh_minus_stretch():
g1 = SpurGear(25, 0.5, 0, 10)
g2 = SpurGear(80, 0.5, 0, 10)
gp = GearPair(g1, g2, -10, 0)
actuator = Actuator(components=[gp])
meshes, _, space = actuator.mesh
assert np.allclose(space.bounds[:, 2], [-15., -gp.stretch_margin])
assert np.allclose(meshes[0].bounds[:, 2], [-15., -gp.stretch_margin])
assert np.allclose(meshes[1].bounds[:, 2], [-15., -10.])