From 720de20b85a51c9f9248f504228391aa69482a3a Mon Sep 17 00:00:00 2001
From: Leni Aniva <v@leni.sh>
Date: Thu, 25 Jul 2024 12:31:25 -0700
Subject: [PATCH] feat: Right side wrist joint all clear

---
 nhf/touhou/houjuu_nue/wing.py | 49 ++++++++++++++++++++++++++++-------
 1 file changed, 39 insertions(+), 10 deletions(-)

diff --git a/nhf/touhou/houjuu_nue/wing.py b/nhf/touhou/houjuu_nue/wing.py
index 9d057dd..ec9f4f1 100644
--- a/nhf/touhou/houjuu_nue/wing.py
+++ b/nhf/touhou/houjuu_nue/wing.py
@@ -33,13 +33,7 @@ WRIST_PARAMS = dict(
         radius_disk=13.0,
         radius_housing=15.0,
     ),
-    hole_pos=[10],
-    lip_length=30,
-    child_arm_radius=23.0,
-    parent_arm_radius=30.0,
-    actuator=LINEAR_ACTUATOR_10,
-    flexor_offset_angle=30.0,
-    flexor_child_arm_radius=None,
+    actuator=LINEAR_ACTUATOR_21,
 )
 
 @dataclass(kw_only=True)
@@ -775,7 +769,7 @@ class WingProfile(Model):
             segment_thickness=self.s2_thickness,
             child=True,
         )
-    @submodel(name="spacer-s1-elbow-act")
+    @submodel(name="spacer-s2-elbow-act")
     def spacer_s2_elbow_act(self) -> MountingBox:
         return MountingBox(
             length=self.s2_thickness,
@@ -876,9 +870,12 @@ class WingProfile(Model):
         return profile
     def surface_s3(self,
                    front: bool = True) -> Cq.Workplane:
-        loc_wrist = Cq.Location.rot2d(self.wrist_rotate) * self.wrist_joint.child_arm_loc()
+        rot_wrist = Cq.Location.rot2d(self.wrist_rotate)
+        loc_wrist = rot_wrist * self.wrist_joint.child_arm_loc()
         tags = [
             ("wrist", self.wrist_axle_loc * loc_wrist),
+            ("wrist_act", self.wrist_axle_loc * rot_wrist *
+             self.wrist_joint.actuator_mount_loc(child=True)),
             ("wrist_bot", self.wrist_axle_loc * loc_wrist *
              Cq.Location.from2d(0, self.wrist_h2)),
             ("wrist_top", self.wrist_axle_loc * loc_wrist *
@@ -906,6 +903,17 @@ class WingProfile(Model):
             segment_thickness=self.s3_thickness,
             child=True,
         )
+    @submodel(name="spacer-s3-wrist-act")
+    def spacer_s3_wrist_act(self) -> MountingBox:
+        return MountingBox(
+            length=self.s3_thickness,
+            width=self.s3_thickness,
+            thickness=self.spacer_thickness,
+            holes=[Hole(x=0,y=0)],
+            centred=(True, True),
+            hole_diam=self.wrist_joint.hole_diam,
+            centre_left_right_tags=True,
+        )
     @assembly()
     def assembly_s3(self) -> Cq.Assembly:
         result = (
@@ -930,6 +938,12 @@ class WingProfile(Model):
                 .constrain("back?wrist_bot", "extra_back?wrist_bot", "Plane")
                 .constrain("back?wrist_top", "extra_back?wrist_top", "Plane")
             )
+        self._assembly_insert_spacer(
+            result,
+            self.spacer_s3_wrist_act().generate(),
+            point_tag="wrist_act",
+            flipped=True,
+        )
         self._assembly_insert_spacer(
             result,
             self.spacer_s3_wrist().generate(),
@@ -1084,7 +1098,16 @@ class WingR(WingProfile):
     wrist_height: float = 60.0
     wrist_joint: ElbowJoint = field(default_factory=lambda: ElbowJoint(
         flip=True,
-        angle_neutral=0.0,
+        angle_neutral=-20.0,
+        child_arm_radius=23.0,
+        parent_arm_radius=30.0,
+        flexor_offset_angle=30.0,
+        flexor_child_arm_radius=50.0,
+        flexor_mount_angle_parent=20,
+        flexor_mount_angle_child=-40,
+        hole_pos=[10, 20],
+        lip_length=50,
+        #flexor_pos_smaller=False,
         **WRIST_PARAMS
     ))
 
@@ -1336,6 +1359,12 @@ class WingL(WingProfile):
     wrist_height: float = 43.0
     wrist_joint: ElbowJoint = field(default_factory=lambda: ElbowJoint(
         flip=False,
+        hole_pos=[10],
+        lip_length=30,
+        child_arm_radius=23.0,
+        parent_arm_radius=30.0,
+        flexor_offset_angle=30.0,
+        flexor_child_arm_radius=None,
         **WRIST_PARAMS
     ))