refactor phase 1

880a9cda · Jan Koniarik · d2e4b854 · d2e4b854 · 880a9cda · 880a9cda
Commit 880a9cda authored May 23, 2020 by Jan Koniarik
--- a/schpin_koke/ChangeLog.md
+++ b/schpin_koke/ChangeLog.md
-# Revision history for schpin-koke
-
-## 0.1.0.0 -- YYYY-mm-dd
-
-* First version. Released on an unsuspecting world.
--- a/schpin_koke/Makefile
+++ b/schpin_koke/Makefile
--- a/schpin_koke/gen/skeleton/default.scad
+++ b/schpin_koke/gen/skeleton/default.scad
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//body.scad>;
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//coxa.scad>;
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//femur.scad>;
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//tibia.scad>;
+translate([-45.0,-36.0,0.0]){
+
+   rotate(a=180.0, v=[0.0,0.0,1.0]){
+
+      rotate(a=45.00000000000001, v=[0.0,0.0,0.9999999999999999]){
+
+         coxa(femurOffset=[65.0,0.0,0.0],expand=0.0);
+         translate([65.0,0.0,0.0]){
+
+            rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+               rotate(a=180.0, v=[0.0,-1.0,0.0]){
+
+                  femur(tibiaOffset=[95.0,0.0,30.0],expand=0.0);
+                  translate([95.0,0.0,30.0]){
+
+                     rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                        rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+                           tibia(tipOffset=[100.0,0.0,0.0],expand=0.0);
+                           translate([100.0,0.0,0.0]){
+
+                           }
+
+                        }
+
+                     }
+
+                  }
+
+               }
+
+            }
+
+         }
+
+      }
+
+   }
+
+}
+
+translate([-45.0,36.0,0.0]){
+
+   rotate(a=180.0, v=[0.0,0.0,1.0]){
+
+      rotate(a=45.00000000000001, v=[0.0,0.0,-0.9999999999999999]){
+
+         coxa(femurOffset=[65.0,0.0,0.0],expand=0.0);
+         translate([65.0,0.0,0.0]){
+
+            rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+               rotate(a=180.0, v=[0.0,-1.0,0.0]){
+
+                  femur(tibiaOffset=[95.0,0.0,30.0],expand=0.0);
+                  translate([95.0,0.0,30.0]){
+
+                     rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                        rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+                           tibia(tipOffset=[100.0,0.0,0.0],expand=0.0);
+                           translate([100.0,0.0,0.0]){
+
+                           }
+
+                        }
+
+                     }
+
+                  }
+
+               }
+
+            }
+
+         }
+
+      }
+
+   }
+
+}
+
+translate([45.0,-36.0,0.0]){
+
+   rotate(a=45.00000000000001, v=[0.0,0.0,-0.9999999999999999]){
+
+      coxa(femurOffset=[65.0,0.0,0.0],expand=0.0);
+      translate([65.0,0.0,0.0]){
+
+         rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+            rotate(a=180.0, v=[0.0,-1.0,0.0]){
+
+               femur(tibiaOffset=[95.0,0.0,30.0],expand=0.0);
+               translate([95.0,0.0,30.0]){
+
+                  rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                     rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+                        tibia(tipOffset=[100.0,0.0,0.0],expand=0.0);
+                        translate([100.0,0.0,0.0]){
+
+                        }
+
+                     }
+
+                  }
+
+               }
+
+            }
+
+         }
+
+      }
+
+   }
+
+}
+
+translate([45.0,36.0,0.0]){
+
+   rotate(a=45.00000000000001, v=[0.0,0.0,0.9999999999999999]){
+
+      coxa(femurOffset=[65.0,0.0,0.0],expand=0.0);
+      translate([65.0,0.0,0.0]){
+
+         rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+            rotate(a=180.0, v=[0.0,-1.0,0.0]){
+
+               femur(tibiaOffset=[95.0,0.0,30.0],expand=0.0);
+               translate([95.0,0.0,30.0]){
+
+                  rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                     rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+                        tibia(tipOffset=[100.0,0.0,0.0],expand=0.0);
+                        translate([100.0,0.0,0.0]){
+
+                        }
+
+                     }
+
+                  }
+
+               }
+
+            }
+
+         }
+
+      }
+
+   }
+
+}
+
+body(positions=[[-45.0,-36.0,0.0],[-45.0,36.0,0.0],[45.0,-36.0,0.0],[45.0,36.0,0.0]],expand=0.0);
--- a/schpin_koke/gen/skeleton/default_col.scad
+++ b/schpin_koke/gen/skeleton/default_col.scad
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//body.scad>;
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//coxa.scad>;
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//femur.scad>;
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//tibia.scad>;
+translate([-45.0,-36.0,0.0]){
+
+   rotate(a=180.0, v=[0.0,0.0,1.0]){
+
+      rotate(a=45.00000000000001, v=[0.0,0.0,0.9999999999999999]){
+
+         #union(){
+            coxa_collision(femurOffset=[65.0,0.0,0.0]);
+         }
+
+         translate([65.0,0.0,0.0]){
+
+            rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+               rotate(a=180.0, v=[0.0,-1.0,0.0]){
+
+                  #union(){
+                     femur_collision_a(tibiaOffset=[95.0,0.0,30.0]);
+                     femur_collision_b(tibiaOffset=[95.0,0.0,30.0]);
+                  }
+
+                  translate([95.0,0.0,30.0]){
+
+                     rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                        rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+                           #union(){
+                              tibia_collision(tipOffset=[100.0,0.0,0.0]);
+                           }
+
+                           translate([100.0,0.0,0.0]){
+
+                           }
+
+                        }
+
+                     }
+
+                  }
+
+               }
+
+            }
+
+         }
+
+      }
+
+   }
+
+}
+
+translate([-45.0,36.0,0.0]){
+
+   rotate(a=180.0, v=[0.0,0.0,1.0]){
+
+      rotate(a=45.00000000000001, v=[0.0,0.0,-0.9999999999999999]){
+
+         #union(){
+            coxa_collision(femurOffset=[65.0,0.0,0.0]);
+         }
+
+         translate([65.0,0.0,0.0]){
+
+            rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+               rotate(a=180.0, v=[0.0,-1.0,0.0]){
+
+                  #union(){
+                     femur_collision_a(tibiaOffset=[95.0,0.0,30.0]);
+                     femur_collision_b(tibiaOffset=[95.0,0.0,30.0]);
+                  }
+
+                  translate([95.0,0.0,30.0]){
+
+                     rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                        rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+                           #union(){
+                              tibia_collision(tipOffset=[100.0,0.0,0.0]);
+                           }
+
+                           translate([100.0,0.0,0.0]){
+
+                           }
+
+                        }
+
+                     }
+
+                  }
+
+               }
+
+            }
+
+         }
+
+      }
+
+   }
+
+}
+
+translate([45.0,-36.0,0.0]){
+
+   rotate(a=45.00000000000001, v=[0.0,0.0,-0.9999999999999999]){
+
+      #union(){
+         coxa_collision(femurOffset=[65.0,0.0,0.0]);
+      }
+
+      translate([65.0,0.0,0.0]){
+
+         rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+            rotate(a=180.0, v=[0.0,-1.0,0.0]){
+
+               #union(){
+                  femur_collision_a(tibiaOffset=[95.0,0.0,30.0]);
+                  femur_collision_b(tibiaOffset=[95.0,0.0,30.0]);
+               }
+
+               translate([95.0,0.0,30.0]){
+
+                  rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                     rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+                        #union(){
+                           tibia_collision(tipOffset=[100.0,0.0,0.0]);
+                        }
+
+                        translate([100.0,0.0,0.0]){
+
+                        }
+
+                     }
+
+                  }
+
+               }
+
+            }
+
+         }
+
+      }
+
+   }
+
+}
+
+translate([45.0,36.0,0.0]){
+
+   rotate(a=45.00000000000001, v=[0.0,0.0,0.9999999999999999]){
+
+      #union(){
+         coxa_collision(femurOffset=[65.0,0.0,0.0]);
+      }
+
+      translate([65.0,0.0,0.0]){
+
+         rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+            rotate(a=180.0, v=[0.0,-1.0,0.0]){
+
+               #union(){
+                  femur_collision_a(tibiaOffset=[95.0,0.0,30.0]);
+                  femur_collision_b(tibiaOffset=[95.0,0.0,30.0]);
+               }
+
+               translate([95.0,0.0,30.0]){
+
+                  rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                     rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+                        #union(){
+                           tibia_collision(tipOffset=[100.0,0.0,0.0]);
+                        }
+
+                        translate([100.0,0.0,0.0]){
+
+                        }
+
+                     }
+
+                  }
+
+               }
+
+            }
+
+         }
+
+      }
+
+   }
+
+}
+
+#union(){
+   body_collision(positions=[[-45.0,-36.0,0.0],[-45.0,36.0,0.0],[45.0,-36.0,0.0],[45.0,36.0,0.0]]);
+}
+
--- a/schpin_koke/gen/skeleton/expanded.scad
+++ b/schpin_koke/gen/skeleton/expanded.scad
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//body.scad>;
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//coxa.scad>;
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//femur.scad>;
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//tibia.scad>;
+translate([-85.0,-36.0,0.0]){
+
+   rotate(a=180.0, v=[0.0,0.0,1.0]){
+
+      rotate(a=45.00000000000001, v=[0.0,0.0,0.9999999999999999]){
+
+         coxa(femurOffset=[65.0,0.0,0.0],expand=10.0);
+         translate([100.0,0.0,0.0]){
+
+            rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+               rotate(a=180.0, v=[0.0,-1.0,0.0]){
+
+                  femur(tibiaOffset=[95.0,0.0,30.0],expand=10.0);
+                  translate([95.0,0.0,30.0]){
+
+                     rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                        rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+                           tibia(tipOffset=[100.0,0.0,0.0],expand=10.0);
+                           translate([100.0,0.0,0.0]){
+
+                           }
+
+                        }
+
+                     }
+
+                  }
+
+               }
+
+            }
+
+         }
+
+      }
+
+   }
+
+}
+
+translate([-85.0,36.0,0.0]){
+
+   rotate(a=180.0, v=[0.0,0.0,1.0]){
+
+      rotate(a=45.00000000000001, v=[0.0,0.0,-0.9999999999999999]){
+
+         coxa(femurOffset=[65.0,0.0,0.0],expand=10.0);
+         translate([100.0,0.0,0.0]){
+
+            rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+               rotate(a=180.0, v=[0.0,-1.0,0.0]){
+
+                  femur(tibiaOffset=[95.0,0.0,30.0],expand=10.0);
+                  translate([95.0,0.0,30.0]){
+
+                     rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                        rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+                           tibia(tipOffset=[100.0,0.0,0.0],expand=10.0);
+                           translate([100.0,0.0,0.0]){
+
+                           }
+
+                        }
+
+                     }
+
+                  }
+
+               }
+
+            }
+
+         }
+
+      }
+
+   }
+
+}
+
+translate([85.0,-36.0,0.0]){
+
+   rotate(a=45.00000000000001, v=[0.0,0.0,-0.9999999999999999]){
+
+      coxa(femurOffset=[65.0,0.0,0.0],expand=10.0);
+      translate([100.0,0.0,0.0]){
+
+         rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+            rotate(a=180.0, v=[0.0,-1.0,0.0]){
+
+               femur(tibiaOffset=[95.0,0.0,30.0],expand=10.0);
+               translate([95.0,0.0,30.0]){
+
+                  rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                     rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+                        tibia(tipOffset=[100.0,0.0,0.0],expand=10.0);
+                        translate([100.0,0.0,0.0]){
+
+                        }
+
+                     }
+
+                  }
+
+               }
+
+            }
+
+         }
+
+      }
+
+   }
+
+}
+
+translate([85.0,36.0,0.0]){
+
+   rotate(a=45.00000000000001, v=[0.0,0.0,0.9999999999999999]){
+
+      coxa(femurOffset=[65.0,0.0,0.0],expand=10.0);
+      translate([100.0,0.0,0.0]){
+
+         rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+            rotate(a=180.0, v=[0.0,-1.0,0.0]){
+
+               femur(tibiaOffset=[95.0,0.0,30.0],expand=10.0);
+               translate([95.0,0.0,30.0]){
+
+                  rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                     rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+                        tibia(tipOffset=[100.0,0.0,0.0],expand=10.0);
+                        translate([100.0,0.0,0.0]){
+
+                        }
+
+                     }
+
+                  }
+
+               }
+
+            }
+
+         }
+
+      }
+
+   }
+
+}
+
+body(positions=[[-45.0,-36.0,0.0],[-45.0,36.0,0.0],[45.0,-36.0,0.0],[45.0,36.0,0.0]],expand=10.0);
--- a/schpin_koke/gen/skeleton/folded.scad
+++ b/schpin_koke/gen/skeleton/folded.scad
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//body.scad>;
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//coxa.scad>;
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//femur.scad>;
+use </home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/src/scad//tibia.scad>;
+translate([-45.0,-36.0,0.0]){
+
+   rotate(a=180.0, v=[0.0,0.0,1.0]){
+
+      coxa(femurOffset=[65.0,0.0,0.0],expand=0.0);
+      translate([65.0,0.0,0.0]){
+
+         rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+            femur(tibiaOffset=[95.0,0.0,30.0],expand=0.0);
+            translate([95.0,0.0,30.0]){
+
+               rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                  rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                     tibia(tipOffset=[100.0,0.0,0.0],expand=0.0);
+                     translate([100.0,0.0,0.0]){
+
+                     }
+
+                  }
+
+               }
+
+            }
+
+         }
+
+      }
+
+   }
+
+}
+
+translate([-45.0,36.0,0.0]){
+
+   rotate(a=180.0, v=[0.0,0.0,1.0]){
+
+      coxa(femurOffset=[65.0,0.0,0.0],expand=0.0);
+      translate([65.0,0.0,0.0]){
+
+         rotate(a=180.0, v=[0.0,1.0,0.0]){
+
+            femur(tibiaOffset=[95.0,0.0,30.0],expand=0.0);
+            translate([95.0,0.0,30.0]){
+
+               rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                  rotate(a=270.0, v=[0.0,1.0,0.0]){
+
+                     tibia(tipOffset=[100.0,0.0,0.0],expand=0.0);
+                     translate([100.0,0.0,0.0]){
+
+                     }
+
+                  }
+
+               }
+
+            }
+
+         }
+
+      }
+
+   }
+
+}
+
+translate([45.0,-36.0,0.0]){
+
+   coxa(femurOffset=[65.0,0.0,0.0],expand=0.0);
+   translate([65.0,0.0,0.0]){