69553fded7
* Change to unzip * Download kcl-samples as zip to public dir * Fix fetch:samples, e2e electron still not working * Change error message to be clearer * Refactor so that input and output directories of sim tests can be different * Add kcl samples test implementation * Update output since adding kcl_samples tests * Update kcl-samples branch * Fix git-ignore pattern to only apply to the root * Fix yarn install and yarn fetch:samples to work the first time * Remove unneeded exists check * Change to use kcl-samples in public directory * Add kcl-samples * Update output since updating kcl-samples * Update output files * Change to not fetch samples during yarn install * Update output after merge * Ignore kcl-samples in codespell * WIP: Don't run e2e if only kcl-samples changed * Conditionally run cargo tests * Fix to round floating point values in program memory arrays * Update output since merge and rounding numbers in memory * Fix memory redaction for floating point to find more values * Fix float redaction pattern * Update output since rounding floating point numbers * Add center to floating point pattern * Fix trigger to use picomatch syntax * Update output since rounding center * Remove kcl-samples github workflows * Enable Rust backtrace * Update output after re-running * Update output after changing order of post-extrude commands * Fix to have deterministic order of commands * Update output after reverting ordering changes * Update kcl-samples * Update output after updating samples * Fix error messages to show the names of all samples that failed * Change cargo test command to match current one * Update kcl-samples * Update output since updating kcl-samples * Add generate manifest workflow and yarn script * Fix error check to actually work * Change util function to be what we actually need * Move new files after merge * Fix paths since directory move * Add dependabot updates for kcl-samples * Add GitHub workflow to make PR to kcl-samples repo * Add GitHub workflow to check kcl-samples header comments * Fix worfklow to change to the right directory * Add auto-commit simulation test output changes * Add permissions to workflows * Fix to run git commit step * Install just if needed * Fix directory of justfile * Add installation of cargo-insta * Fix to use underscore * Fix to allow just command failure * Change to always install CLI tools and cache them * Trying to fix overwrite failing * Combine commands * Change reviewer * Change to PR targeting the next branch * Change git commands to not do unnecessary fetch * Comment out trigger for creating a PR * Update kcl-samples from next branch * Update outputs after kcl-samples change * Fix to use bash pipefail * Add rust backtrace * Print full env from sim tests * Change command to use long option name * Fix to use ci profile even when calling through just * Add INSTA_UPDATE=always * Fix git push by using an app token on checkout * Add comments * Fix to use bash options * Change to echo when no changes are found * Fix so that kcl-samples updates don't trigger full run * Fix paths to reflect new crate location * Fix path detection * Fix e2e job to ignore kcl_samples simulation test output * Fix the fetch logic for the KCL samples after vendoring (#5661) Fixes the last 2 E2E tests for #5460. --------- Co-authored-by: Pierre Jacquier <pierre@zoo.dev> Co-authored-by: Pierre Jacquier <pierrejacquier39@gmail.com> Co-authored-by: Frank Noirot <frank@zoo.dev>
83 lines
2.3 KiB
Plaintext
83 lines
2.3 KiB
Plaintext
// Robot Arm Base
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// Set Units
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@settings(defaultLengthUnit = in)
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// Import Constants
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import basePlateRadius, basePlateThickness, baseChamfer, baseHeight from "globals.kcl"
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// Base Plate
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sketch001 = startSketchOn('XY')
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|> startProfileAt([-basePlateRadius, -basePlateRadius], %)
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|> angledLine([0, 2 * basePlateRadius], %, $rectangleSegmentA001)
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|> angledLine([
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segAng(rectangleSegmentA001) + 90,
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2 * basePlateRadius
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], %, $rectangleSegmentB001)
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|> angledLine([
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segAng(rectangleSegmentA001),
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-segLen(rectangleSegmentA001)
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], %, $rectangleSegmentC001)
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|> line(endAbsolute = [profileStartX(%), profileStartY(%)], tag = $rectangleSegmentD001)
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|> close()
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extrude001 = extrude(sketch001, length = basePlateThickness)
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|> chamfer(
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length = baseChamfer,
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tags = [
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getNextAdjacentEdge(rectangleSegmentA001),
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getNextAdjacentEdge(rectangleSegmentB001),
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getNextAdjacentEdge(rectangleSegmentC001),
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getNextAdjacentEdge(rectangleSegmentD001)
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]
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)
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// Base Motor for actuating first joint
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sketch002 = startSketchOn(extrude001, 'END')
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|> circle(center = [0, 0], radius = 4, tag = $referenceEdge)
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extrude002 = extrude(sketch002, length = baseHeight - basePlateThickness - 1.5)
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|> fillet(
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radius = 0.1,
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tags = [getOppositeEdge(referenceEdge)]
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)
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sketch003 = startSketchOn(extrude002, 'END')
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|> circle(center = [0, 0], radius = 0.5)
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extrude003 = extrude(sketch003, length = 1)
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// Pattern M8 mounting bolts in base
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sketch4A = startSketchOn(extrude001, 'END')
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|> circle(
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center = [
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-basePlateRadius + 1,
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-basePlateRadius + baseChamfer + 0.5
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],
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radius = 0.4
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)
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|> patternCircular2d(
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arcDegrees = 360,
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center = [0, 0],
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instances = 4,
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rotateDuplicates = true
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)
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extrude4A = extrude(sketch4A, length = -basePlateThickness)
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sketch4B = startSketchOn(extrude001, 'END')
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|> circle(
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center = [
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-basePlateRadius + 0.5 + baseChamfer,
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-basePlateRadius + 1
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],
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radius = 0.4
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)
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|> patternCircular2d(
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arcDegrees = 360,
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center = [0, 0],
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instances = 4,
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rotateDuplicates = true
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)
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extrude(sketch4B, length = -basePlateThickness)
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|> appearance(color = "#754110", roughness = 90, metalness = 90)
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