void TowerProSG90servo::make_horn ( ) [protected, virtual]

Builds the servo horn and saves it in horn variable.

--

Todo:: Change this when OOML is fixed:

--

Todo:: Change this when OOML is fixed:

Reimplemented from BasicServo.

{
    if ( horn_num_arms != 4)
    {
        BasicServo::make_horn();
        horn.relRotate(0, 0, 180);
    }
    else
    {
        //-- Construct 4-arm servo horn

        //-- Create axis cylinder
        horn = Cylinder(horn_r_axis + horn_tol, horn_h_axis +0.2, 100, false);
        horn.translate(0,0,-0.1);

        //-- Create a single arm of type 1:
        Component base_type1 = Cube( 2*horn_r_axis, horn_arm_shift + 0.001, horn_h_top+0.1);
        Component upper_cyl_type1 = Cylinder( horn_arm_r,horn_h_top+0.1, 100, true);
        upper_cyl_type1.translate( 0, horn_arm_dist, 0);

        Component arm_type1 = base_type1 & upper_cyl_type1;
        arm_type1.translate(0, 0, (horn_h_top+0.1) /2);

        //-- Create a single arm of type 2:
        Component base_type2 = Cube( 2*horn_arm_r_small, 0.001, horn_h_top+0.1);
        Component upper_cyl_type2 = Cylinder( horn_arm_r_small, horn_h_top + 0.1, 100, true);
        upper_cyl_type2.translate( 0, horn_arm_dist_small, 0);

        Component arm_type2 = base_type2 & upper_cyl_type2;
        arm_type2.translate(0, 0, (horn_h_top+0.1) /2);
        arm_type2.rotate( 0,0, 90);

        Component arms = arm_type1 + arm_type1.rotatedCopy(0,0, 180)
                       + arm_type2 + arm_type2.rotatedCopy(0,0, 180);
        arms.translate( 0, 0, horn_h_axis);


        //-- Add the top cylinder:
        Component top_cyl = Cylinder( horn_r_top, horn_h_top + 0.1, 100, false)
                .translate(0,0, horn_h_axis);

        //-- Sum up all the parts:
        horn = horn + arms + top_cyl;

        //-- Set link on the end of the axis cylinder, to attach to the servo:
        horn.addLink( RefSys( 0,0, horn_h_axis));
        horn.relTranslate(0,0,-horn_h_axis);
    }
}