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Robot Arm Element - Adds robot arm to storyboard. #119

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Robot Arm Element - Adds robot arm to storyboard. #119

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Robot Arm Element - Adds robot arm to storyboard.
Jan 14, 2022
a8862a1
Makes changes from PR #119
yepher Feb 6, 2022
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1 change: 1 addition & 0 deletions src/index.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -49,3 +49,4 @@ export { MicrosdCardElement } from './microsd-card-element';
export { DipSwitch8Element } from './dip-switch-8-element';
export { StepperMotorElement } from './stepper-motor-element';
export { HX711Element } from './hx711-element';
export { RobotArmElement } from './robot-arm-element';
2 changes: 2 additions & 0 deletions src/react-types.ts
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Expand Up @@ -48,6 +48,7 @@ import { MicrosdCardElement } from './microsd-card-element';
import { DipSwitch8Element } from './dip-switch-8-element';
import { StepperMotorElement } from './stepper-motor-element';
import { HX711Element } from './hx711-element';
import { RobotArmElement } from './robot-arm-element';

type WokwiElement<T> = Partial<T> & React.ClassAttributes<T>;

Expand Down Expand Up @@ -101,6 +102,7 @@ declare global {
'wokwi-dip-switch-8': WokwiElement<DipSwitch8Element>;
'wokwi-stepper-motor': WokwiElement<StepperMotorElement>;
'wokwi-hx711': WokwiElement<HX711Element>;
'wokwi-robot-arm': WokwiElement<RobotArmElement>;
}
}
}
37 changes: 37 additions & 0 deletions src/robot-arm-element.stories.ts
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@@ -0,0 +1,37 @@
import { html } from 'lit';
import './robot-arm-element';

export default {
title: 'Robot Arm',
component: 'wokwi-robot-arm',
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@urish urish Jan 14, 2022

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How about wokwi-robotic-arm? Not being a native English speaker, I'm not sure if there's an actual difference, so I'd love to hear the thoughts of someone whose a native English speaker.

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@yepher yepher Jan 14, 2022

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Works for me

};

const Template = ({
sholderAngle,
elbowAngle,
wristAngle,
gripperAngle,
gripperColor,
armColor,
jointColor,
}) =>
html`<wokwi-robot-arm
sholderAngle=${sholderAngle}
elbowAngle=${elbowAngle}
wristAngle=${wristAngle}
gripperAngle=${gripperAngle}
gripperColor=${gripperColor}
armColor=${armColor}
jointColor=${jointColor}
></wokwi-robot-arm>`;

export const Default = Template.bind({});
Default.args = {
sholderAngle: 297,
elbowAngle: 52,
wristAngle: 56,
gripperAngle: 270,
gripperColor: '#eeeedd',
armColor: '#ffffdd',
jointColor: '#111111',
};
106 changes: 106 additions & 0 deletions src/robot-arm-element.ts
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import { html, LitElement } from 'lit';
import { customElement, property } from 'lit/decorators.js';
import { ElementPin } from '.';

@customElement('wokwi-robot-arm')
export class RobotArmElement extends LitElement {
/**
* Angle of shoulder
*/
@property() sholderAngle = 297;

/**
* Angle of elbow
*/
@property() elbowAngle = 52;

/**
* Angle of wrist
*/
@property() wristAngle = 56;

/**
* Angle of gripper
*/
@property() gripperAngle = 270;

/**
* The color of the gripper
*/
@property() gripperColor = '#eeeedd';

/**
* The color of the arm
*/
@property() armColor = '#ffffdd';

/**
* The color of the joints
*/
@property() jointColor = '#111111';

readonly pinInfo: ElementPin[] = [
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@urish urish Jan 14, 2022

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We also need GND/VCC pins (they are not currently used in the simulation, but we do want the schematic to look as close as possible to reality)

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@yepher yepher Jan 14, 2022

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ok, will add the two pins. I was cheating since I knew they had no function.

{ name: 'PWM1', y: 195, x: 25, number: 1, signals: [{ type: 'pwm' }] },
{ name: 'PWM2', y: 195, x: 30, number: 2, signals: [{ type: 'pwm' }] },
{ name: 'PWM3', y: 195, x: 35, number: 3, signals: [{ type: 'pwm' }] },
{ name: 'PWM4', y: 195, x: 40, number: 3, signals: [{ type: 'pwm' }] },
];

render() {
/* eslint-disable prettier/prettier */
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@urish urish Jan 14, 2022

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why?

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@yepher yepher Jan 14, 2022

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When I let VS code format the SVG it becomes un-readable and I hate the warnings. But if you really want it to wrap all those lines I can remove it.

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@urish urish Jan 14, 2022

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Yes, prettier SVG formatting isn't that great.

But when the choice is between not-so-pleasing but consistent SVG formatting or getting the indentation wrong by the next developer who works on this code, I prefer the former.

Also, prettier should automatically format the code whenever you commit anyway. Didn't it?

return html`
<style>
text {
user-select: none;
}
</style>
<svg version="1.1" width="70mm" height="52mm" viewBox="0 0 350 260" xml:space="preserve" xmlns="http://www.w3.org/2000/svg">
<!-- Terminals -->
<g>
<rect x="29" y="243" width="28" height="7" fill="${this.armColor}"/>
<rect x="32" y="250" width="1" height="9" fill="${this.jointColor}"/>
<rect x="38" y="250" width="1" height="9" fill="${this.jointColor}"/>
<rect x="45" y="250" width="1" height="9" fill="${this.jointColor}"/>
<rect x="52" y="250" width="1" height="9" fill="${this.jointColor}"/>
</g>
<g transform="translate(46.71 210.57)">
<!-- Shoulder -->
<g transform="rotate(${this.sholderAngle})">
<path transform="translate(-1.27)" d="m1-36c-19.63 0-36.04 16.39-36.04 36s16.41 36 36.04 36 98.75-9 113.12-10c14.38-1 26.03-11 26.03-26s-11.65-24-26.03-26c-14.37-2-93.49-10-113.12-10z" fill="${this.armColor}" stroke="${this.jointColor}" stroke-miterlimit="10" stroke-width="2"/>

<!-- Elbow -->
<g transform="translate(113) rotate(${this.elbowAngle})">
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@urish urish Jan 14, 2022

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extracting the different values from this will probably make the code a bit tidies. i.e. at the start of the function:

const {elbowAngle, wristAngle, ...} = this;

Then you can use the variables directly, without repeating this. every time

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@yepher yepher Feb 6, 2022

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The more I modify SVG the harder it is to update the SVG if I want to add/remove stuff from it. When it become invalid SVG it is a lot harder to update


<!-- Wrist -->
<g transform="translate(98) rotate(${this.wristAngle})">
<path d="m57 15c8.28-1 15-6.72 15-15s-6.72-14-15-15-45.4-6-57-6-21 9.4-21 21 9.4 21 21 21 48.72-5 57-6z" fill="${this.armColor}" stroke="${this.jointColor}" stroke-miterlimit="10" stroke-width="2"/>

<!-- Fingers -->
<g transform="translate(69.65 10.9) rotate(-${this.gripperAngle})">
<g transform="translate(38.91 -6.36) rotate(${this.gripperAngle})">
<path d="m-7.5 8.54c-3.47-0.41-7-3-7-7.5s3.53-7.1 7-7.5c3.47-0.41 33.33 2.61 36.19 3.11 2.91 0.51 4.81 1.81 4.81 4.5 0 2.7-1.9 4-4.81 4.5-2.86 0.5-32.72 3.29-36.19 2.89z" fill="${this.gripperColor}" stroke="${this.jointColor}" stroke-miterlimit="10" stroke-width="2"/>
</g>
<path d="m36.5 8.14c3.47-0.41 7-3 7-7.5s-3.53-7.1-7-7.5c-3.47-0.41-31.33-1-36.19-1-4.87 0-8.81 3.8-8.81 8.5 0 4.69 3.94 8.5 8.81 8.5 4.86 0 32.72-0.6 36.19-1z" fill="${this.gripperColor}" stroke="${this.jointColor}" stroke-miterlimit="10" stroke-width="2"/>
<circle cx="36" cy=".64" r="3.5" fill="${this.jointColor}" stroke="${this.jointColor}" stroke-miterlimit="10" stroke-width="2"/>
<circle cy=".64" r="4.5" fill="${this.jointColor}" stroke="${this.jointColor}" stroke-miterlimit="10" stroke-width="2"/>
</g>
<g transform="translate(69.5 -10.5) rotate(${this.gripperAngle})">
<g transform="translate(40.91 4.68) rotate(-${this.gripperAngle})">
<path d="m-7.5 9.54c-3.47-0.41-7-3-7-7.5s3.53-7.1 7-7.5c3.47-0.41 33.33 2.61 36.19 3.11 2.91 0.51 4.81 1.81 4.81 4.5 0 2.7-1.9 4-4.81 4.5-2.86 0.5-32.72 3.29-36.19 2.89z" fill="${this.gripperColor}" stroke="${this.jointColor}" stroke-miterlimit="10" stroke-width="2"/>
</g>
<path d="m35.89 7.18c3.42-0.4 6.9-3 6.9-7.5s-3.48-7.09-6.9-7.5c-3.43-0.4-30.91-1-35.7-1-4.8 0-8.69 3.81-8.69 8.5 0 4.7 3.89 8.5 8.69 8.5 4.79 0 32.27-0.59 35.7-1z" fill="${this.gripperColor}" stroke="${this.jointColor}" stroke-miterlimit="10" stroke-width="2"/>
<circle cx="35" cy="-.32" r="3.5" fill="${this.jointColor}" stroke="${this.jointColor}" stroke-miterlimit="10" stroke-width="2"/>
<circle cy="-.32" r="4.5" fill="${this.jointColor}" stroke="${this.jointColor}" stroke-miterlimit="10" stroke-width="2"/>
</g>
</g>
<path d="m99 21c11.6-1 21-9.4 21-21s-9.4-20-21-21-84.64-5-99-5-26 11.64-26 26 11.64 26 26 26 87.4-4 99-5z" fill="${this.armColor}" stroke="${this.jointColor}" stroke-miterlimit="10" stroke-width="2"/>
<circle r="9" fill="${this.jointColor}" stroke="${this.jointColor}" stroke-miterlimit="10" stroke-width="2"/>
<circle cx="98" r="8" fill="${this.jointColor}" stroke="${this.jointColor}" stroke-miterlimit="10" stroke-width="2"/>
</g>
<circle r="12" fill="${this.jointColor}" stroke="${this.jointColor}" stroke-miterlimit="10" stroke-width="2"/>
</g>
</g>
</svg>
`;
}
}