basicservo.h

//------------------------------------------------------------------------------
//-- Basic servo
//------------------------------------------------------------------------------
//-- This file belongs to the REPY-2.0 module project:
//--
//--    · http://www.dsquaredrobotics.com/wiki/index.php?title=REPY-2.0
//--
//--
//-- REPY-2.0 was designed using the 00ML (Object-Oriented Mechanics Library).
//-- More info about the OOML at:
//--    · http://iearobotics.com/oomlwiki/doku.php
//--
//-- REPY-2.0 concept is deeply based on Juan Gonzalez-Gomez REPY module. More
//-- info about the original REPY at:
//--    · http://www.thingiverse.com/thing:13442
//--    · http://www.iearobotics.com/wiki/index.php?title=M%C3%B3dulos_REPY-1
//--
//------------------------------------------------------------------------------
//-- Author: David Estevez (DEF)
//--
//-- Released under the GPL license (more info on LICENSE.txt file)
//------------------------------------------------------------------------------

#ifndef BASIC_SERVO_H
#define BASIC_SERVO_H

#include <ooml/core.h>
#include <ooml/components.h>

class BasicServo: public AbstractPart
{
public:
    //-- Object dimensions interface:
    //-------------------------------------------------------------------

    //-- Main dimensions:
    //----------------------------------------
    double get_width();

    double get_length();

    double get_height();

    //-- Leg dimensions:
    //-----------------------------------------
    double get_leg_h();

    double get_leg_x();

    double get_leg_y();

    double get_leg_z();

    //-- Leg holes
    //-----------------------------------------
    int get_num_holes();

    double get_hole_r();

    double get_hole_x();

    double get_hole_y();

    //-- Axis dimensions:
    //-----------------------------------------
    double get_axis_h();

    double get_axis_r();

    double get_axis_y();

    //-- Horn positioning:
    //-----------------------------------------
    double get_horn_dist_axis();

    //-- Tolerances:
    //-----------------------------------------
    double get_width_tol();

    double get_length_tol();

    double get_height_tol();


    //-- Horn dimensions:
    //------------------------------------------
    double get_horn_num_arms();

    double get_horn_h_top();

    double get_horn_r_top();

    double get_horn_h_axis();

    double get_horn_r_axis();

    double get_horn_arm_r();

    double get_horn_arm_shift();

    double get_horn_arm_dist();

    double get_horn_tol();

    double get_horn_cut();

    //-- Horn (others):
    //------------------------------------------
    bool horn_shown();

    Component get_horn();

    double get_horn_angle();

    //-- Servo configuration:
    //-----------------------------------------------------------------
    void set_horn( int arms, double angle = 0, bool visibility = true, double cut = 0);


    void set_tolerances( double width_tol, double length_tol, double height_tol );

protected:
    BasicServo();

    virtual void update_horn() = 0;

    virtual Component build();

    virtual void make_horn();

    //-- Servo characteristics:
    //------------------------------------------------------------------
    //-- Main dimensions:
    double width, length, height;

    //-- Leg dimensions:
    double leg_h, leg_x, leg_y, leg_z;

    //-- Leg holes
    int num_holes;
    double  hole_r, hole_x, hole_y;

    //-- Axis dimensions:
    double axis_h, axis_r, axis_y;

    //-- Horn positioning:
    double horn_dist_axis;

    //-- Tolerances:
    double width_tol;
    double length_tol;
    double height_tol;

    //-- Color:
    std::vector<double> servo_color;

    //-- Horn characteristics:
    //----------------------------------------
    Component horn;

    bool display_horn;

    int horn_num_arms;

    double horn_h_top, horn_r_top;

    double horn_h_axis, horn_r_axis;

    double horn_arm_r, horn_arm_shift, horn_arm_dist;

    double horn_tol;

    double horn_cut; //-- For cutting the round horn.

    //-- Horn color:
    std::vector<double> horn_color;

    //-- Horn position:
    double horn_angle;
};


#endif // BASIC_SERVO_H