feat: Actuator mount position rel. to parent

nhf/touhou/houjuu_nue/electronics.py

@@ -261,7 +261,7 @@ class Flexor:
     """
     motion_span: float
 
-    actuator: LinearActuator = LINEAR_ACTUATOR_30
+    actuator: LinearActuator = LINEAR_ACTUATOR_50
     nut: HexNut = LINEAR_ACTUATOR_HEX_NUT
     bolt: FlatHeadBolt = LINEAR_ACTUATOR_BOLT
     bracket: MountingBracket = LINEAR_ACTUATOR_BRACKET

nhf/touhou/houjuu_nue/joints.py

@@ -8,7 +8,7 @@ from nhf.parts.springs import TorsionSpring
 from nhf.parts.fasteners import FlatHeadBolt, HexNut, ThreaddedKnob
 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
+from nhf.touhou.houjuu_nue.electronics import Flexor, LinearActuator
 import nhf.utils
 
 TOL = 1e-6
@@ -879,15 +879,21 @@ class ElbowJoint(Model):
 
     angle_neutral: float = 30.0
 
+    actuator: LinearActuator
     flexor: Flexor = None
-    flexor_offset_angle: float = 30.0
-    flexor_mount_rot: float = 95.0
+    # Rotates the entire flexor
+    flexor_offset_angle: float = 0
+    # Rotates the surface of the mount
+    flexor_mount_rot: float = 90.0
 
     def __post_init__(self):
         assert self.child_arm_radius > self.disk_joint.radius_housing
         assert self.parent_arm_radius > self.disk_joint.radius_housing
         self.disk_joint.tongue_length = self.child_arm_radius - self.disk_joint.radius_disk - self.lip_thickness / 2
-        self.flexor = Flexor(motion_span=self.motion_span)
+        self.flexor = Flexor(
+            actuator=self.actuator,
+            motion_span=self.motion_span
+        )
 
     @property
     def total_thickness(self):
@@ -934,7 +940,7 @@ class ElbowJoint(Model):
         loc_mount_orient = Cq.Location.rot2d(self.flexor_mount_rot * (-1 if child else 1))
         # Moves the hole to be some distance apart from 0
         loc_span = Cq.Location.from2d(self.flexor.mount_loc_r, 0)
-        r = 0 if child else self.flexor.mount_loc_angle
+        r = (-self.flexor.mount_loc_angle if child else 0) + 180
         loc_rot = Cq.Location.rot2d(r + self.flexor_offset_angle)
         return loc_rot * loc_span * loc_mount_orient * loc_mount * loc_thickness
 

nhf/touhou/houjuu_nue/wing.py

@@ -11,8 +11,9 @@ from nhf import Material, Role
 from nhf.build import Model, TargetKind, target, assembly, submodel
 from nhf.parts.box import box_with_centre_holes, MountingBox, Hole
 from nhf.parts.joints import HirthJoint
-from nhf.touhou.houjuu_nue.joints import RootJoint, ShoulderJoint, ElbowJoint, DiskJoint
 from nhf.parts.planar import extrude_with_markers
+from nhf.touhou.houjuu_nue.joints import RootJoint, ShoulderJoint, ElbowJoint, DiskJoint
+from nhf.touhou.houjuu_nue.electronics import LINEAR_ACTUATOR_10, LINEAR_ACTUATOR_50
 import nhf.utils
 
 @dataclass(kw_only=True)
@@ -45,6 +46,8 @@ class WingProfile(Model):
         ),
         hole_diam=6.0,
         angle_neutral=15.0,
+        actuator=LINEAR_ACTUATOR_50,
+        flexor_offset_angle=-15,
     ))
     # Distance between the two spacers on the elbow, halved
     elbow_h2: float = 5.0
@@ -63,6 +66,7 @@ class WingProfile(Model):
         parent_arm_radius=30.0,
         hole_diam=4.0,
         angle_neutral=-30.0,
+        actuator=LINEAR_ACTUATOR_10,
     ))
     # Distance between the two spacers on the elbow, halved
     wrist_h2: float = 5.0