1  #!/usr/bin/env python
  2  #    Copyright 2007 Chris Radek
  3  #    Derived from a work by John Kasunich and Jeff Epler
  4  #
  5  #    This program is free software; you can redistribute it and/or modify
  6  #    it under the terms of the GNU General Public License as published by
  7  #    the Free Software Foundation; either version 2 of the License, or
  8  #    (at your option) any later version.
  9  #
 10  #    This program is distributed in the hope that it will be useful,
 11  #    but WITHOUT ANY WARRANTY; without even the implied warranty of
 12  #    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 13  #    GNU General Public License for more details.
 14  #
 15  #    You should have received a copy of the GNU General Public License
 16  #    along with this program; if not, write to the Free Software
 17  #    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 18  
 19  
 20  from vismach import *
 21  import hal
 22  import math
 23  import sys
 24  
 25  # give endpoint Z values and radii
 26  # resulting cylinder is on the Z axis
 27  class HalToolCylinder(CylinderZ):
 28      def __init__(self, comp, *args):
 29  	CylinderZ.__init__(self, *args)
 30  	self.comp = comp
 31  
 32      def coords(self):
 33          return -self.comp.tool_length, 20, 0, 20
 34  
 35  c = hal.component("5axisgui")
 36  c.newpin("jx", hal.HAL_FLOAT, hal.HAL_IN)
 37  c.newpin("jy", hal.HAL_FLOAT, hal.HAL_IN)
 38  c.newpin("jz", hal.HAL_FLOAT, hal.HAL_IN)
 39  c.newpin("jb", hal.HAL_FLOAT, hal.HAL_IN)
 40  c.newpin("jc", hal.HAL_FLOAT, hal.HAL_IN)
 41  c.newpin("tool_length", hal.HAL_FLOAT, hal.HAL_IN)
 42  c.ready()
 43  
 44  pivot_len=100
 45  tool_radius=25
 46  
 47  for setting in sys.argv[1:]: exec setting
 48  
 49  tooltip = Capture()
 50  tool = Collection([HalTranslate([tooltip], c, "tool_length", 0,0,-1),
 51                     HalToolCylinder(c),
 52                     CylinderZ(pivot_len, 100, 0.0, 50),
 53                     Box(-100,-100,pivot_len, 100,100,pivot_len+50),
 54                     Box(-50,25,pivot_len+50, 50,100,pivot_len+150)
 55                     ])
 56  
 57  tool = Translate([tool], 0, 0, -pivot_len-150)
 58  
 59  tool = Collection([tool,
 60                     CylinderY(-100,75, -10,75),
 61                     CylinderY(-50,60,50,60),
 62                     ])
 63  
 64  
 65  tool = HalRotate([tool],c,"jb",1,0,-1,0)
 66  
 67  wrist = Collection([tool,
 68                      CylinderY(100,75, 10,75),
 69                      Box(-50,-100,0, 50,-25,100),
 70                      Box(-100,-100,100, 100,100,150),
 71                      CylinderZ(150,75, 200, 75)
 72                      ])
 73  
 74  wrist = HalRotate([wrist],c,"jc",1,0,0,1)
 75  
 76  ram = Collection([wrist,
 77                    Box(-100,-100,200, 100,100,900),
 78                    ])
 79  
 80  ram = Translate([ram], 0,0,150)
 81  
 82  ram = HalTranslate([ram],c,"jz",0,0,1)
 83  
 84  ram = Collection([ram,
 85                    Box(-100,100,350, 100,200,550)
 86                    ])
 87      
 88  ram = HalTranslate([ram],c,"jx",1,0,0)
 89  
 90  ram = Collection([ram,
 91                    Box(-800,200,350, 800,400,550),
 92                    Box(-1000,200,-900, -800,400,550),
 93                    Box(800,200,-900,  1000,400,550)
 94                    ])
 95  
 96  ram = HalTranslate([ram],c,"jy",0,1,0)
 97  
 98  ram = Collection([ram,
 99                     Box(-1000,1000,-1000,  -800, -1000,-900),
100                     Box(800,1000,-1000, 1000,-1000,-900)
101                     ])
102  
103  work = Capture()
104  table = Collection([
105  	work,
106  	Box(-500,-500,-400, 500,500,-450)
107          ])
108  
109  model = Collection([ram, table])
110  
111  main(model, tooltip, work, 1500)