From 33e32aa14b4144533e1b2f3145e9777e5ffbf987 Mon Sep 17 00:00:00 2001
From: Leni Aniva <v@leni.sh>
Date: Thu, 25 Jul 2024 12:35:36 -0700
Subject: [PATCH] fix: Left side wrist joint

---
 nhf/parts/box.py              | 6 +++++-
 nhf/touhou/houjuu_nue/wing.py | 7 +++++--
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/nhf/parts/box.py b/nhf/parts/box.py
index 9aac091..ebd5d63 100644
--- a/nhf/parts/box.py
+++ b/nhf/parts/box.py
@@ -1,6 +1,6 @@
 import cadquery as Cq
 from dataclasses import dataclass, field
-from typing import Tuple, Optional, Union
+from typing import Tuple, Optional, Union, Callable
 from nhf.build import Model, TargetKind, target
 import nhf.utils
 
@@ -64,6 +64,8 @@ class MountingBox(Model):
     # Determines the position of side tags
     flip_y: bool = False
 
+    profile_callback: Optional[Callable[[Cq.Sketch], Cq.Sketch]] = None
+
     def __post_init__(self):
         for i, hole in enumerate(self.holes):
             if hole.tag is None:
@@ -84,6 +86,8 @@ class MountingBox(Model):
         for hole in self.holes:
             diam = hole.diam if hole.diam else self.hole_diam
             result.push([(hole.x, hole.y)]).circle(diam / 2, mode='s')
+        if self.profile_callback:
+            profile = self.profile_callback(profile)
         return result
 
     def generate(self) -> Cq.Workplane:
diff --git a/nhf/touhou/houjuu_nue/wing.py b/nhf/touhou/houjuu_nue/wing.py
index ec9f4f1..acd0bd4 100644
--- a/nhf/touhou/houjuu_nue/wing.py
+++ b/nhf/touhou/houjuu_nue/wing.py
@@ -33,7 +33,6 @@ WRIST_PARAMS = dict(
         radius_disk=13.0,
         radius_housing=15.0,
     ),
-    actuator=LINEAR_ACTUATOR_21,
 )
 
 @dataclass(kw_only=True)
@@ -1107,6 +1106,7 @@ class WingR(WingProfile):
         flexor_mount_angle_child=-40,
         hole_pos=[10, 20],
         lip_length=50,
+        actuator=LINEAR_ACTUATOR_21,
         #flexor_pos_smaller=False,
         **WRIST_PARAMS
     ))
@@ -1363,8 +1363,11 @@ class WingL(WingProfile):
         lip_length=30,
         child_arm_radius=23.0,
         parent_arm_radius=30.0,
-        flexor_offset_angle=30.0,
+        flexor_offset_angle=0.0,
         flexor_child_arm_radius=None,
+        flexor_line_length=50.0,
+        flexor_line_slack=1.0,
+        actuator=LINEAR_ACTUATOR_10,
         **WRIST_PARAMS
     ))