shorter final links

OperationSmallKat · Dec 21, 2023 · 5f4f5a6 · 5f4f5a6
1 parent 046f6e2
commit 5f4f5a6
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Showing 4 changed files with 36 additions and 28 deletions.
diff --git a/Marcos.xml b/Marcos.xml
@@ -184,7 +184,7 @@
 	<DHParameters>
 		<Delta>0.0</Delta>
 		<Theta>90.0</Theta>
-		<Radius>65.0</Radius>
+		<Radius>48.0</Radius>
 		<Alpha>0.01</Alpha>
 	</DHParameters>
 
@@ -385,7 +385,7 @@
 	<DHParameters>
 		<Delta>0.0</Delta>
 		<Theta>90.0</Theta>
-		<Radius>65.0</Radius>
+		<Radius>48.0</Radius>
 		<Alpha>0.01</Alpha>
 	</DHParameters>
 
@@ -586,7 +586,7 @@
 	<DHParameters>
 		<Delta>0.0</Delta>
 		<Theta>90.0</Theta>
-		<Radius>65.0</Radius>
+		<Radius>48.0</Radius>
 		<Alpha>0.0</Alpha>
 	</DHParameters>
 
@@ -787,7 +787,7 @@
 	<DHParameters>
 		<Delta>0.0</Delta>
 		<Theta>90.0</Theta>
-		<Radius>65.0</Radius>
+		<Radius>48.0</Radius>
 		<Alpha>0.01</Alpha>
 	</DHParameters>
 
@@ -814,7 +814,6 @@
 </baseToZframe>
 
 </leg>
-
 <appendage>
 
 <name>DummyLeftRear</name>
@@ -897,10 +896,10 @@
 	<x>-85.0</x>
 	<y>40.25</y>
 	<z>137.0</z>
-	<rotw>-0.4999999999993643</rotw>
-	<rotx>-0.5000000000006358</rotx>
-	<roty>-0.49999999999936434</roty>
-	<rotz>0.5000000000006358</rotz>
+	<rotw>-0.4999999999993642</rotw>
+	<rotx>-0.5000000000006357</rotx>
+	<roty>-0.49999999999936423</roty>
+	<rotz>0.5000000000006357</rotz>
 </baseToZframe>
 
 </appendage>

diff --git a/MarcosCad.groovy b/MarcosCad.groovy
@@ -1406,7 +1406,7 @@ class cadGenMarcos implements ICadGenerator{
 			spars  = Vitamins.get(calibrationJigFile);
 		}
 		if(makeCalibration) {
-			double blockDepth = 35
+			double blockDepth = 25
 			double blockHeight = 20
 			double scoochUpDistance = 1
 			CSG label = CSG.unionAll(TextExtrude.text((double)1.0,semver,font))
@@ -1426,13 +1426,12 @@ class cadGenMarcos implements ICadGenerator{
 
 			CSG neckBit = getNeckLink().transformed(neck)
 			CSG buttBit = getNeckLink().transformed(butt)
-
+			
 			CSG calBlock = new ChamferedCube(blockDepth,25,blockHeight,numbers.Chamfer2).toCSG()
 					.toZMin()
 					.movez(scoochUpDistance)
+
 			//.movez(5)
-			CSG calLeft =calBlock.toYMin().movey(2)
-			CSG calRight = calBlock.toYMax().movey(-2)
 			CSG footLeftFront=getFoot(getByName(arg0,"LeftFront").getDH_R(2)).transformed(tipLeftFront)
 			CSG footRightFront=getFoot(getByName(arg0,"RightFront").getDH_R(2)).transformed(tipRightFront)
 			CSG footLeftRear=getFoot(getByName(arg0,"LeftRear").getDH_R(2)).transformed(tipLeftRear)
@@ -1441,13 +1440,9 @@ class cadGenMarcos implements ICadGenerator{
 			CSG fCenter=calBlock.toXMax().move(tipLeftFront.x, 0, tipLeftFront.z)
 
 			CSG rCenter=calBlock.move(tipRightRear.x, 0, tipRightRear.z)
-			CSG Center = fCenter
-					.union(rCenter)
-					.hull()
-			label=label.movex(tipLeftFront.x-5)
-					.movez(Center.getMaxZ())
+
 			double calSinkInDistance =4
-			CSG fCal = calBlock.toZMax().move(neck.x, neck.y, neckBit.getMinZ()+numbers.Chamfer2+calSinkInDistance)
+			CSG fCal = calBlock.union(calBlock.movex(5)).toZMax().move(neck.x, neck.y, neckBit.getMinZ()+numbers.Chamfer2+calSinkInDistance)
 					.union(fCenter)
 					.hull()
 					.difference(neckBit)
@@ -1456,9 +1451,15 @@ class cadGenMarcos implements ICadGenerator{
 					.hull()
 					.difference(buttBit)
 			double inset=2
+			CSG lowerBlock =  new ChamferedCube(10,25,blockHeight/2,numbers.Chamfer2).toCSG()
+			.toZMax()
+			.toXMax()
+			.movex(-15)
+			.movez(scoochUpDistance+calBlock.getMinZ()+3)
 			CSG scoochedUp = calBlock
+					.union(lowerBlock)
 					.toXMax()
-					.movex(5)
+					.movex(12)
 			CSG fl = scoochedUp.toYMax().movey(inset)
 			CSG fr = scoochedUp.toYMin().movey(-inset)
 			CSG rl = scoochedUp.toYMax().movey(inset)
@@ -1473,6 +1474,14 @@ class cadGenMarcos implements ICadGenerator{
 					.hull()
 					.difference(footLeftRear)
 					.difference(footRightRear)
+			CSG Center = fCenter
+					.union(rCenter)
+					.hull()
+					.toZMin()
+					.movez(RearSpar.getMinZ())
+					.movex(-15)
+			label=label.movex(tipLeftFront.x-5)
+					.movez(Center.getMaxZ())
 			CSG gearAllignment = null;
 			def gearLimbs = [getByName(arg0,"DummyRightFront"),
 				getByName(arg0,"DummyLeftFront"),

diff --git a/MarcosWalk.groovy b/MarcosWalk.groovy
@@ -35,10 +35,10 @@ IDriveEngine engine = new IDriveEngine () {
 	*/
 
 	boolean firstRun=true
-	double zoffsetOfFeetHome = -12.5
-	double xOffsetOfFeetHome = 5
-	double ySplayOut = 10
-	double stepOverHeight = 7
+	double zoffsetOfFeetHome = -7.5
+	double xOffsetOfFeetHome = 0
+	double ySplayOut = 5
+	double stepOverHeight = 20
 	public void DriveArc(MobileBase source,TransformNR newPose,double seconds) {
 		try {
 
@@ -81,7 +81,7 @@ enum CycleState {
 class BodyController{
 	int numberOfInterpolationPoints=0
 	double stepOverHeight =1
-	int numMsOfLoop = 64;
+	int numMsOfLoop = 16;
 	double numPointsInLoop =12
 	double unitScale =1.0/(numPointsInLoop/2.0)
 	Thread bodyLoop = null;

diff --git a/printbed.json b/printbed.json
@@ -547,8 +547,8 @@
       }
     },
     "PassiveLinkHead": {
-      "x": 28.996272036182745,
-      "y": -50.14634059059578,
+      "x": 20.282339980725492,
+      "y": -50.17541427473076,
       "z": 0.0,
       "rotation": {
         "storage": {
@@ -1028,7 +1028,7 @@
       }
     },
     "CalibrationJig": {
-      "x": 151.28562863811544,
+      "x": 151.28562849883713,
       "y": -105.40872955322266,
       "z": 0.0,
       "rotation": {