feat: Add arduino uno form factor

nhf/parts/box.py

@@ -40,7 +40,7 @@ class Hole:
         assert self.tag is not None
         return self.tag + "_rev"
 
-    def cutting_geometry(self, default_diam: Optional[float]=None) -> Cq.Face:
+    def cutting_geometry(self, default_diam: Optional[float] = None) -> Cq.Face:
         if self.face is not None:
             return self.face
         diam = self.diam if self.diam is not None else default_diam

nhf/parts/electronics.py

@@ -0,0 +1,72 @@
+from dataclasses import dataclass, field
+from typing import Tuple
+import cadquery as Cq
+from nhf import Item, Role
+from nhf.parts.box import Hole, MountingBox
+import nhf.utils
+
+@dataclass(frozen=True)
+class ArduinoUnoR3(Item):
+    # From datasheet
+    mass: float = 25.0
+    length: float = 68.6
+    width: float = 53.4
+
+    # with clearance
+    base_height: float = 5.0
+    # aesthetic only for illustrating clearance
+    total_height: float = 50.0
+    roof_height: float = 20.0
+
+    # 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
+        (66.04, 17.78),
+        (66.04, 45.72),
+    ])
+    hole_diam: float = 3.0
+
+    @property
+    def name(self) -> str:
+        return "Arduino Uno R3"
+
+    @property
+    def role(self) -> Role:
+        return Role.ELECTRONIC
+
+    def generate(self) -> Cq.Assembly:
+        sketch = (
+            Cq.Sketch()
+            .polygon([
+                (0,0),
+                (self.length, 0),
+                (self.length, self.width),
+                (0,self.width)
+            ])
+            .push([(x, self.width - y) for x,y in self.holes])
+            .circle(self.hole_diam / 2, mode='s')
+        )
+        # pillar thickness
+        t = 3.0
+        pillar_height = self.total_height - self.base_height
+        pillar = Cq.Solid.makeBox(
+            t, t, pillar_height
+        )
+        roof = Cq.Solid.makeBox(
+            self.length, self.width, t
+        )
+        result = (
+            Cq.Workplane('XY')
+            .placeSketch(sketch)
+            .extrude(self.base_height)
+            .union(pillar.located(Cq.Location((0, 0, self.base_height))))
+            .union(pillar.located(Cq.Location((self.length - t, 0, self.base_height))))
+            .union(pillar.located(Cq.Location((self.length - t, self.width - t, self.base_height))))
+            .union(pillar.located(Cq.Location((0, self.width - t, self.base_height))))
+            .union(roof.located(Cq.Location((0, 0, self.total_height - t))))
+        )
+        plane = result.copyWorkplane(Cq.Workplane('XY'))
+        for i, (x, y) in enumerate(self.holes):
+            plane.moveTo(x, self.width - y).tagPlane(f"conn{i}", direction='-Z')
+        return result

nhf/touhou/houjuu_nue/__init__.py

@@ -37,6 +37,7 @@ import nhf.touhou.houjuu_nue.wing as MW
 import nhf.touhou.houjuu_nue.trident as MT
 import nhf.touhou.houjuu_nue.joints as MJ
 import nhf.touhou.houjuu_nue.harness as MH
+import nhf.touhou.houjuu_nue.electronics as ME
 from nhf.parts.item import Item
 import nhf.utils
 
@@ -67,6 +68,7 @@ class Parameters(Model):
             parent_substrate_cull_corners=(1,1,1,1),
             parent_substrate_cull_edges=(0,0,1,0),
         ),
+        electronic_board=ME.ElectronicBoardControl(),
         shoulder_angle_bias=WING_DEFLECT_EVEN,
         s0_top_hole=True,
         s0_bot_hole=True,

nhf/touhou/houjuu_nue/electronics.py

@@ -11,6 +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.touhou.houjuu_nue.common import NUT_COMMON, BOLT_COMMON
 import nhf.utils
 
@@ -509,7 +510,6 @@ class ElectronicBoard(Model):
     def __post_init__(self):
         super().__init__(name=self.name)
 
-    @submodel(name="panel")
     def panel(self) -> MountingBox:
         return MountingBox(
             holes=self.mount_holes,
@@ -528,7 +528,7 @@ class ElectronicBoard(Model):
             .addS(panel.generate(), name="panel",
                   role=Role.ELECTRONIC | Role.STRUCTURE, material=self.material)
         )
-        for hole in panel.holes:
+        for hole in self.mount_holes:
             spacer_name = f"{hole.tag}_spacer"
             bolt_name = f"{hole.tag}_bolt"
             (
@@ -548,6 +548,49 @@ class ElectronicBoard(Model):
             )
         return result.solve()
 
+@dataclass
+class ElectronicBoardBattery(ElectronicBoard):
+    name: str = "electronic-board-battery"
+
+    @submodel(name="panel")
+    def panel_out(self) -> MountingBox:
+        return self.panel()
+
+@dataclass
+class ElectronicBoardControl(ElectronicBoard):
+    name: str = "electronic-board-control"
+
+    controller_datum: Cq.Location = Cq.Location.from2d(-25,10, -90)
+
+    controller: ArduinoUnoR3 = ArduinoUnoR3()
+
+    def panel(self) -> MountingBox:
+        box = super().panel()
+        def transform(i, x, y):
+            pos = self.controller_datum * Cq.Location.from2d(x, self.controller.width - y)
+            x, y = pos.to2d_pos()
+            return Hole(
+                x=x, y=y,
+                diam=self.controller.hole_diam,
+                tag=f"controller_conn{i}",
+            )
+        box.holes = box.holes.copy() + [
+            transform(i, x, y)
+            for i, (x, y) in enumerate(self.controller.holes)
+        ]
+        return box
+
+    @submodel(name="panel")
+    def panel_out(self) -> MountingBox:
+        return self.panel()
+
+    def assembly(self) -> Cq.Assembly:
+        result = super().assembly()
+        result.add(self.controller.assembly(), name="controller")
+        for i in range(len(self.controller.holes)):
+            result.constrain(f"controller?conn{i}", f"panel?controller_conn{i}", "Plane")
+        return result.solve()
+
 @dataclass(frozen=True)
 class LightStrip:
 

nhf/touhou/houjuu_nue/joints.py

@@ -455,7 +455,7 @@ class ShoulderJoint(Model):
         """
         Position of the middle of the spool measured from the middle
         """
-        return self.height / 2 - self.torsion_joint.total_height - self.spool_base_height / 2
+        return 0
 
     def parent_lip_loc(self, left: bool=True) -> Cq.Location:
         """

nhf/touhou/houjuu_nue/wing.py

@@ -19,6 +19,7 @@ from nhf.touhou.houjuu_nue.electronics import (
     LINEAR_ACTUATOR_21,
     LINEAR_ACTUATOR_50,
     ElectronicBoard,
+    ElectronicBoardBattery,
     LightStrip,
     ELECTRONIC_MOUNT_HEXNUT,
 )
@@ -76,7 +77,7 @@ class WingProfile(Model):
     s0_top_hole: bool = False
     s0_bot_hole: bool = True
 
-    electronic_board: ElectronicBoard = field(default_factory=lambda: ElectronicBoard())
+    electronic_board: ElectronicBoard = field(default_factory=lambda: ElectronicBoardBattery())
 
     s1_thickness: float = 25.0
 
@@ -156,6 +157,9 @@ class WingProfile(Model):
     @submodel(name="wrist-joint")
     def submodel_wrist_joint(self) -> Model:
         return self.wrist_joint
+    @submodel(name="electronic-board")
+    def submodel_electronic_board(self) -> Model:
+        return self.electronic_board
 
     @property
     def root_height(self) -> float: