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#!/usr/bin/python2.4
# Copyright 2007 Chris Radek
# Derived from a work by John Kasunich and Jeff Epler
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
from vismach import *
import hal
import math
import sys
# give endpoint Z values and radii
# resulting cylinder is on the Z axis
class HalToolCylinder(CylinderZ):
def __init__(self, comp, *args):
CylinderZ.__init__(self, *args)
self.comp = comp
def coords(self):
return -self.comp.tool_length, 20, 0, 20
c = hal.component("5axisgui")
c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("joint3", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("joint4", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("joint5", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("tool_length", hal.HAL_FLOAT, hal.HAL_IN)
c.ready()
pivot_len=100
tool_radius=25
for setting in sys.argv[1:]: exec setting
tooltip = Capture()
tool = Collection([HalTranslate([tooltip], c, "tool_length", 0,0,-1),
HalToolCylinder(c),
CylinderZ(pivot_len, 100, 0.0, 50),
Box(-100,-100,pivot_len, 100,100,pivot_len+50),
Box(-50,25,pivot_len+50, 50,100,pivot_len+150)
])
tool = Translate([tool], 0, 0, -pivot_len-150)
tool = Collection([tool,
CylinderY(-100,75, -10,75),
CylinderY(-50,60,50,60),
])
tool = HalRotate([tool],c,"joint4",1,0,-1,0)
wrist = Collection([tool,
CylinderY(100,75, 10,75),
Box(-50,-100,0, 50,-25,100),
Box(-100,-100,100, 100,100,150),
CylinderZ(150,75, 200, 75)
])
wrist = HalRotate([wrist],c,"joint5",1,0,0,1)
ram = Collection([wrist,
Box(-100,-100,200, 100,100,900),
])
ram = Translate([ram], 0,0,150)
ram = HalTranslate([ram],c,"joint2",0,0,1)
ram = Collection([ram,
Box(-100,100,350, 100,200,550)
])
ram = HalTranslate([ram],c,"joint0",1,0,0)
ram = Collection([ram,
Box(-800,200,350, 800,400,550),
Box(-1000,200,-900, -800,400,550),
Box(800,200,-900, 1000,400,550)
])
ram = HalTranslate([ram],c,"joint1",0,1,0)
ram = Collection([ram,
Box(-1000,1000,-1000, -800, -1000,-900),
Box(800,1000,-1000, 1000,-1000,-900)
])
work = Capture()
table = Collection([
work,
Box(-500,-500,-400, 500,500,-450)
])
model = Collection([ram, table])
main(model, tooltip, work, 1500)
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