nhf/touhou/houjuu_nue/electronics.py

@@ -302,19 +302,20 @@ LINEAR_ACTUATOR_21 = LinearActuator(
     stroke_length=21,
     front_hole_ext=4,
     back_hole_ext=4,
-    segment1_length=75/2,
-    segment2_length=75/2,
+    segment1_length=34,
+    segment2_length=34,
 )
 LINEAR_ACTUATOR_10 = LinearActuator(
-    # FIXME: Measure
-    mass=0.0,
+    mass=41.3,
     stroke_length=10,
-    front_hole_ext=4.5/2,
-    back_hole_ext=4.5/2,
-    segment1_length=30.0,
-    segment2_length=30.0,
-    segment1_width=15.0,
-    segment2_width=21.0,
+    front_hole_ext=4.02,
+    back_hole_ext=4.67,
+    segment1_length=13.29,
+    segment1_width=15.88,
+    segment1_height=12.07,
+    segment2_length=42.52,
+    segment2_width=20.98,
+    segment2_height=14.84,
 )
 LINEAR_ACTUATOR_HEX_NUT = HexNut(
     mass=0.8,

nhf/touhou/houjuu_nue/test.py

@@ -14,6 +14,12 @@ class TestElectronics(unittest.TestCase):
         self.assertAlmostEqual(
             ME.LINEAR_ACTUATOR_30.conn_length, 83.9
         )
+        self.assertAlmostEqual(
+            ME.LINEAR_ACTUATOR_10.conn_length, 64.5
+        )
+        self.assertAlmostEqual(
+            ME.LINEAR_ACTUATOR_21.conn_length, 76.0
+        )
 
     def test_flexor(self):
         flexor = ME.Flexor(

nhf/touhou/houjuu_nue/wing.py

@@ -44,6 +44,8 @@ class WingProfile(Model):
     root_joint: RootJoint = field(default_factory=lambda: RootJoint())
 
     panel_thickness: float = 25.4 / 16
+    # s0 is armoured
+    panel_thickness_s0: float = 25.4 / 8
     # 1/4" acrylic for the spacer. Anything thinner would threathen structural
     # strength
     spacer_thickness: float = 25.4 / 4
@@ -242,7 +244,7 @@ class WingProfile(Model):
         return sketch
 
     def outer_shell_s0(self) -> Cq.Workplane:
-        t = self.panel_thickness
+        t = self.panel_thickness_s0
         profile = Cq.Wire.assembleEdges(self.outer_profile_s0().edges().vals())
         result = (
             Cq.Workplane('XZ')
@@ -254,7 +256,7 @@ class WingProfile(Model):
         plane.moveTo(0, self.root_height + t*2).tagPlane("top")
         return result
     def inner_shell_s0(self) -> Cq.Workplane:
-        t = self.panel_thickness
+        t = self.panel_thickness_s0
         #profile = Cq.Wire.assembleEdges(self.inner_profile_s0())
         result = (
             Cq.Workplane('XZ')
@@ -364,7 +366,7 @@ class WingProfile(Model):
         ]
         result = extrude_with_markers(
             self.profile_s0(top=top),
-            self.panel_thickness,
+            self.panel_thickness_s0,
             tags,
             reverse=not top,
         )
@@ -1139,13 +1141,15 @@ class WingR(WingProfile):
         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_line_length=50.0,
+        flexor_line_slack=3.0,
+        flexor_offset_angle=45.0,
+        flexor_child_arm_radius=None,
         flexor_mount_angle_parent=20,
         flexor_mount_angle_child=-40,
         hole_pos=[10, 20],
         lip_length=50,
-        actuator=LINEAR_ACTUATOR_21,
+        actuator=LINEAR_ACTUATOR_10,
         #flexor_pos_smaller=False,
         **WRIST_PARAMS
     ))