fix: Resolve winch collision

nhf/parts/electronics.py

@@ -21,7 +21,7 @@ class ArduinoUnoR3(Item):
     # This is labeled in mirrored coordinates from top down (i.e. unmirrored from bottom up)
     holes: list[Tuple[float, float]] = field(default_factory=lambda: [
         (15.24, 2.54),
-        (13.74, 50.80), # x coordinate not labeled on schematic
+        (15.24 - 1.270, 50.80), # x coordinate not labeled on schematic
         (66.04, 17.78),
         (66.04, 45.72),
     ])
@@ -70,3 +70,66 @@ class ArduinoUnoR3(Item):
         for i, (x, y) in enumerate(self.holes):
             plane.moveTo(x, self.width - y).tagPlane(f"conn{i}", direction='-Z')
         return result
+
+
+@dataclass(frozen=True)
+class BatteryBox18650(Item):
+    """
+    A number of 18650 batteries in series
+    """
+    mass: float = 17.4 + 68.80 * 3
+    length: float = 75.70
+    width_base: float = 61.46 - 18.48 - 20.18 * 2
+    battery_dist: float = 20.18
+    height: float = 19.66
+    # space from bottom to battery begin
+    thickness: float = 1.66
+    battery_diam: float = 18.48
+    battery_height: float = 68.80
+    n_batteries: int = 3
+
+    def __post_init__(self):
+        assert 2 * self.thickness < min(self.length, self.height)
+
+    @property
+    def name(self) -> str:
+        return f"BatteryBox 18650*{self.n_batteries}"
+
+    @property
+    def role(self) -> Role:
+        return Role.ELECTRONIC
+
+    def generate(self) -> Cq.Workplane:
+        width = self.width_base + self.battery_dist * (self.n_batteries - 1) + self.battery_diam
+        return (
+            Cq.Workplane('XY')
+            .box(
+                length=self.length,
+                width=width,
+                height=self.height,
+                centered=(True, True, False),
+            )
+            .copyWorkplane(Cq.Workplane('XY', origin=(0, 0, self.thickness)))
+            .box(
+                length=self.length - self.thickness*2,
+                width=width - self.thickness*2,
+                height=self.height - self.thickness,
+                centered=(True, True, False),
+                combine='cut',
+            )
+            .copyWorkplane(Cq.Workplane('XY', origin=(-self.battery_height/2, 0, self.thickness + self.battery_diam/2)))
+            .rarray(
+                xSpacing=1,
+                ySpacing=self.battery_dist,
+                xCount=1,
+                yCount=self.n_batteries,
+                center=True,
+            )
+            .cylinder(
+                radius=self.battery_diam/2,
+                height=self.battery_height,
+                direct=(1, 0, 0),
+                centered=(True, True, False),
+                combine=True,
+            )
+        )

nhf/touhou/houjuu_nue/electronics.py

@@ -11,7 +11,7 @@ from nhf.parts.box import MountingBox, Hole
 from nhf.parts.fibre import tension_fibre
 from nhf.parts.item import Item
 from nhf.parts.fasteners import FlatHeadBolt, HexNut
-from nhf.parts.electronics import ArduinoUnoR3
+from nhf.parts.electronics import ArduinoUnoR3, BatteryBox18650
 from nhf.touhou.houjuu_nue.common import NUT_COMMON, BOLT_COMMON
 import nhf.utils
 
@@ -210,68 +210,6 @@ class MountingBracket(Item):
         result.copyWorkplane(Cq.Workplane('XY')).tagPlane("conn_mid")
         return result
 
-@dataclass(frozen=True)
-class BatteryBox18650(Item):
-    """
-    A number of 18650 batteries in series
-    """
-    mass: float = 17.4 + 68.80 * 3
-    length: float = 75.70
-    width_base: float = 61.46 - 18.48 - 20.18 * 2
-    battery_dist: float = 20.18
-    height: float = 19.66
-    # space from bottom to battery begin
-    thickness: float = 1.66
-    battery_diam: float = 18.48
-    battery_height: float = 68.80
-    n_batteries: int = 3
-
-    def __post_init__(self):
-        assert 2 * self.thickness < min(self.length, self.height)
-
-    @property
-    def name(self) -> str:
-        return f"BatteryBox 18650*{self.n_batteries}"
-
-    @property
-    def role(self) -> Role:
-        return Role.ELECTRONIC
-
-    def generate(self) -> Cq.Workplane:
-        width = self.width_base + self.battery_dist * (self.n_batteries - 1) + self.battery_diam
-        return (
-            Cq.Workplane('XY')
-            .box(
-                length=self.length,
-                width=width,
-                height=self.height,
-                centered=(True, True, False),
-            )
-            .copyWorkplane(Cq.Workplane('XY', origin=(0, 0, self.thickness)))
-            .box(
-                length=self.length - self.thickness*2,
-                width=width - self.thickness*2,
-                height=self.height - self.thickness,
-                centered=(True, True, False),
-                combine='cut',
-            )
-            .copyWorkplane(Cq.Workplane('XY', origin=(-self.battery_height/2, 0, self.thickness + self.battery_diam/2)))
-            .rarray(
-                xSpacing=1,
-                ySpacing=self.battery_dist,
-                xCount=1,
-                yCount=self.n_batteries,
-                center=True,
-            )
-            .cylinder(
-                radius=self.battery_diam/2,
-                height=self.battery_height,
-                direct=(1, 0, 0),
-                centered=(True, True, False),
-                combine=True,
-            )
-        )
-
 
 LINEAR_ACTUATOR_50 = LinearActuator(
     mass=40.8,
@@ -345,6 +283,15 @@ ELECTRONIC_MOUNT_HEXNUT = HexNut(
     width=6.81,
 )
 
+@dataclass(kw_only=True, frozen=True)
+class Winch:
+    linear_motion_span: float
+
+    actuator: LinearActuator = LINEAR_ACTUATOR_21
+    nut: HexNut = LINEAR_ACTUATOR_HEX_NUT
+    bolt: FlatHeadBolt = LINEAR_ACTUATOR_BOLT
+    bracket: MountingBracket = LINEAR_ACTUATOR_BRACKET
+
 @dataclass(kw_only=True)
 class Flexor:
     """
@@ -529,17 +476,10 @@ class ElectronicBoard(Model):
                   role=Role.ELECTRONIC | Role.STRUCTURE, material=self.material)
         )
         for hole in self.mount_holes:
-            spacer_name = f"{hole.tag}_spacer"
             bolt_name = f"{hole.tag}_bolt"
             (
                 result
-                .add(self.nut.assembly(), name=spacer_name)
                 .add(self.bolt.assembly(), name=bolt_name)
-                .constrain(
-                    f"{spacer_name}?top",
-                    f"panel?{hole.rev_tag}",
-                    "Plane"
-                )
                 .constrain(
                     f"{bolt_name}?root",
                     f"panel?{hole.tag}",
@@ -551,6 +491,7 @@ class ElectronicBoard(Model):
 @dataclass
 class ElectronicBoardBattery(ElectronicBoard):
     name: str = "electronic-board-battery"
+    battery_box: BatteryBox18650 = BATTERY_BOX
 
     @submodel(name="panel")
     def panel_out(self) -> MountingBox:

nhf/touhou/houjuu_nue/joints.py

@@ -10,7 +10,7 @@ from nhf.parts.fasteners import FlatHeadBolt, HexNut, ThreaddedKnob, Washer
 from nhf.parts.joints import TorsionJoint, HirthJoint
 from nhf.parts.box import Hole, MountingBox, box_with_centre_holes
 from nhf.touhou.houjuu_nue.electronics import (
-    Flexor, LinearActuator, LINEAR_ACTUATOR_21,
+    Winch, Flexor, LinearActuator, LINEAR_ACTUATOR_21,
 )
 import nhf.geometry
 import nhf.utils
@@ -390,7 +390,7 @@ class ShoulderJoint(Model):
     parent_arm_width: float = 25.0
     parent_arm_height: float = 12.0
     # remove a bit of material from the base so it does not interfere with gluing
-    parent_arm_base_shift: float = 2.0
+    parent_arm_base_shift: float = 1.0
 
     # Generates a child guard which covers up the internals. The lip length is
     # relative to the +X surface of the guard.
@@ -423,6 +423,7 @@ class ShoulderJoint(Model):
     spool_groove_radius: float = 10.0
 
     flip: bool = False
+    winch: Optional[Winch] = None # Initialized later
     actuator: LinearActuator = LINEAR_ACTUATOR_21
 
     def __post_init__(self):
@@ -431,6 +432,10 @@ class ShoulderJoint(Model):
         assert self.spool_groove_radius < self.spool_inner_radius < self.spool_outer_radius
         assert self.child_lip_height < self.height
         assert self.draft_length <= self.actuator.stroke_length
+        self.winch = Winch(
+            actuator=self.actuator,
+            linear_motion_span=self.draft_length,
+        )
 
     @property
     def spool_outer_radius(self):
@@ -457,6 +462,10 @@ class ShoulderJoint(Model):
         """
         return 0
 
+    @property
+    def parent_lip_gap(self):
+        return self.height - self.parent_lip_length * 2
+
     def parent_lip_loc(self, left: bool=True) -> Cq.Location:
         """
         2d location of the arm surface on the parent side, relative to axle

nhf/touhou/houjuu_nue/wing.py

@@ -21,6 +21,7 @@ from nhf.touhou.houjuu_nue.electronics import (
     ElectronicBoard,
     ElectronicBoardBattery,
     LightStrip,
+    ElectronicBoard,
     ELECTRONIC_MOUNT_HEXNUT,
 )
 import nhf.utils
@@ -287,7 +288,7 @@ class WingProfile(Model):
         plane.moveTo(t, self.root_height + t*2).tagPlane("top")
         return result
 
-    @submodel(name="spacer-s0-shoulder")
+    @submodel(name="spacer-s0-shoulder-inner")
     def spacer_s0_shoulder(self, left: bool=True) -> MountingBox:
         """
         Shoulder side serves double purpose for mounting shoulder joint and
@@ -302,6 +303,21 @@ class WingProfile(Model):
                 Hole(x=-x, y=sign * y, tag=f"conn_bot{i}"),
             ]
         ]
+        def post(sketch: Cq.Sketch) -> Cq.Sketch:
+            """
+            Carve out the middle if this is closer to the front
+            """
+            if left:
+                return sketch
+            return (
+                sketch
+                .push([(0,0)])
+                .rect(
+                    w=self.shoulder_joint.parent_lip_gap,
+                    h=self.shoulder_joint.parent_lip_width,
+                    mode='s'
+                )
+            )
         return MountingBox(
             length=self.shoulder_joint.height,
             width=self.shoulder_joint.parent_lip_width,
@@ -311,7 +327,12 @@ class WingProfile(Model):
             centred=(True, True),
             flip_y=self.flip,
             centre_bot_top_tags=True,
+            profile_callback=post,
         )
+    @submodel(name="spacer-s0-shoulder-outer")
+    def spacer_s0_shoulder_outer(self) -> MountingBox:
+        return self.spacer_s0_shoulder_inner(left=False)
+
     @submodel(name="spacer-s0-base")
     def spacer_s0_base(self) -> MountingBox:
         """
@@ -341,11 +362,15 @@ class WingProfile(Model):
     @submodel(name="spacer-s0-electronic")
     def spacer_s0_electronic_mount(self) -> MountingBox:
         """
-        This one has circular holes for the screws
+        This one has hexagonal holes
         """
+        face = ELECTRONIC_MOUNT_HEXNUT.cutting_face()
+        holes = [
+            Hole(x=h.x, y=h.y, face=face, tag=h.tag)
+            for h in self.electronic_board.mount_holes
+        ]
         return MountingBox(
-            holes=self.electronic_board.mount_holes,
+            holes=holes,
-            hole_diam=self.electronic_board.mount_hole_diam,
             length=self.root_height,
             width=self.electronic_board.width,
             centred=(True, True),
@@ -356,13 +381,8 @@ class WingProfile(Model):
     @submodel(name="spacer-s0-electronic2")
     def spacer_s0_electronic_mount2(self) -> MountingBox:
         """
-        This one has hexagonal holes
+        This one has circular holes
         """
-        face = ELECTRONIC_MOUNT_HEXNUT.cutting_face()
-        holes = [
-            Hole(x=h.x, y=h.y, face=face, tag=h.tag)
-            for h in self.electronic_board.mount_holes
-        ]
         def post(sketch: Cq.Sketch) -> Cq.Sketch:
             return (
                 sketch
@@ -370,7 +390,7 @@ class WingProfile(Model):
                 .rect(70, 130, mode='s')
             )
         return MountingBox(
-            holes=holes,
+            holes=self.electronic_board.mount_holes,
             hole_diam=self.electronic_board.mount_hole_diam,
             length=self.root_height,
             width=self.electronic_board.width,
@@ -408,7 +428,7 @@ class WingProfile(Model):
             ("shoulder_right",
              self.shoulder_axle_loc * axle_rotate * self.shoulder_joint.parent_lip_loc(left=False)),
             ("shoulder_act",
-             self.shoulder_axle_loc * axle_rotate * Cq.Location.from2d(100, -20)),
+             self.shoulder_axle_loc * axle_rotate * Cq.Location.from2d(120, -40)),
             ("base", Cq.Location.from2d(base_dx,  base_dy, 90)),
             ("electronic_mount", Cq.Location.from2d(-35, 65, 60)),
         ]
@@ -474,17 +494,26 @@ class WingProfile(Model):
         for hole in self.electronic_board.mount_holes:
             result.constrain(
                 f"electronic_mount?{hole.tag}",
-                f"electronic_mount2?{hole.tag}_rev",
+                f"electronic_mount2?{hole.rev_tag}",
                 "Plane")
         if not ignore_electronics:
             result.add(self.electronic_board.assembly(), name="electronic_board")
             for hole in self.electronic_board.mount_holes:
                 assert hole.tag
+                nut_name = f"{hole.tag}_nut"
+                (
+                    result
+                    .add(self.electronic_board.nut.assembly(), name=nut_name)
+                    .constrain(
+                        f"{nut_name}?top",
+                        f"electronic_mount?{hole.tag}",
+                        "Plane", param=0
+                    )
+                )
                 result.constrain(
                     f"electronic_mount2?{hole.tag}",
-                    f'electronic_board/{hole.tag}_spacer?top',
+                    f'electronic_board/panel?{hole.rev_tag}',
                     "Plane",
-                    param=0
                 )
         return result.solve()
 
@@ -1073,6 +1102,27 @@ class WingProfile(Model):
             result.add(self.assembly_s0(
                 ignore_electronics=ignore_electronics
             ), name="s0")
+            if not ignore_electronics:
+                tag_act = "shoulder_act"
+                tag_bolt = "shoulder_act_bolt"
+                tag_nut = "shoulder_act_nut"
+                tag_bracket = "shoulder_act_bracket"
+                winch = self.shoulder_joint.winch
+                (
+                    result
+                    .add(winch.actuator.assembly(pos=0), name=tag_act)
+                    .add(winch.bracket.assembly(), name=tag_bracket)
+                    .add(winch.bolt.assembly(), name=tag_bolt)
+                    .add(winch.nut.assembly(), name=tag_nut)
+                    .constrain(f"{tag_bolt}?root", f"{tag_bracket}?conn_top",
+                               "Plane", param=0)
+                    .constrain(f"{tag_nut}?bot", f"{tag_bracket}?conn_bot",
+                               "Plane")
+                    .constrain(f"{tag_act}/back?conn", f"{tag_bracket}?conn_mid",
+                               "Plane", param=0)
+                    .constrain("s0/shoulder_act?conn0", f"{tag_bracket}?conn_side",
+                               "Plane")
+                )
         if "root" in parts:
             result.addS(self.root_joint.assembly(
                 offset=root_offset,