axis_h axis_r axis_y BasicServo build display_horn get_axis_h get_axis_r get_axis_y get_height get_height_tol get_hole_r get_hole_x get_hole_y get_horn get_horn_angle get_horn_arm_dist get_horn_arm_r get_horn_arm_shift get_horn_cut get_horn_dist_axis get_horn_h_axis get_horn_h_top get_horn_num_arms get_horn_r_axis get_horn_r_top get_horn_tol get_leg_h get_leg_x get_leg_y get_leg_z get_length get_length_tol get_num_holes get_width get_width_tol height height_tol hole_r hole_x hole_y horn horn_angle horn_arm_dist horn_arm_r horn_arm_shift horn_color horn_cut horn_dist_axis horn_h_axis horn_h_top horn_num_arms horn_r_axis horn_r_top horn_shown horn_tol leg_h leg_x leg_y leg_z length length_tol make_horn num_holes servo_color set_horn set_tolerances update_horn width width_tol

Component BasicServo::build ( ) [protected, virtual] Builds and returns the BasicServo. Todo: Change this Reimplemented in TowerProSG90servo. { //-- Create body Component body = Cube::create( width + width_tol, length + length_tol, height + height_tol, false); body.translate( -width/2, 0,0); //-- Create axis Component axis = Cylinder::create( axis_r, axis_h, 20, true); axis.translate( 0, axis_y, height + axis_h / 2); //-- Create legs Component leg_top = Cube::create( leg_x, leg_y, leg_z, false); leg_top.translate( -leg_x/2, length, leg_h); Component leg_bottom = leg_top.translatedCopy( 0, -( length + leg_y), 0); //-- Create holes: Component holes; Component hole_base = Cylinder( hole_r, leg_z + 0.2, 20, true); if (num_holes == 4) //-- 4 holes, 2 on each leg { Component hole01 = hole_base.translatedCopy( hole_x, length + hole_y, leg_h + leg_z/2.0); Component hole02 = hole_base.translatedCopy( -hole_x, length + hole_y, leg_h + leg_z/2.0); Component hole03 = hole_base.translatedCopy( hole_x, -hole_y, leg_h + leg_z/2.0); Component hole04 = hole_base.translatedCopy( -hole_x, -hole_y, leg_h + leg_z/2.0); holes = hole01 + hole02 + hole03 + hole04; } else if (num_holes == 2) //-- 2 holes, 1 on each leg { Component hole01 = hole_base.translatedCopy( hole_x, length + hole_y, leg_h + leg_z/2.0); Component hole02 = hole_base.translatedCopy( hole_x, -hole_y ,leg_h + leg_z/2.0); holes = hole01 + hole02; } //-- Composing the servo: Component servo = body + axis + leg_top + leg_bottom - holes; //-- Add a link for the horn: servo.addLink( RefSys( 0, axis_y, height + horn_dist_axis)); //-- Add several links for the screws: if (num_holes == 4) //-- 4 holes, 2 on each leg { servo.addLink( RefSys( hole_x, length + hole_y, leg_h + leg_z/2.0)); servo.addLink( RefSys( -hole_x, length + hole_y, leg_h + leg_z/2.0)); servo.addLink( RefSys( hole_x, -hole_y, leg_h + leg_z/2.0)); servo.addLink( RefSys( -hole_x, -hole_y, leg_h + leg_z/2.0)); } else if (num_holes == 2) { servo.addLink( RefSys( hole_x, length + hole_y, leg_h + leg_z/2.0)); servo.addLink( RefSys( hole_x, -hole_y, leg_h + leg_z/2.0)); } //-- Paint it black: servo.color( servo_color[0], servo_color[1], servo_color[2], servo_color[3]); //-- Attach the horn: if ( display_horn) { make_horn(); horn.color( horn_color[0], horn_color[1], horn_color[2], horn_color[3]); horn.relRotate(0,0, horn_angle); servo.attach( 0, horn, 2 ); } return servo; }