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

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b508f66
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 { RoboticArmElement } from './robotic-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 { RoboticArmElement } from './robotic-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-robotic-arm': WokwiElement<RoboticArmElement>;
}
}
}
55 changes: 55 additions & 0 deletions src/robotic-arm-element.stories.ts
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@@ -0,0 +1,55 @@
import { html } from 'lit';
import './robotic-arm-element';

export default {
title: 'Robotic Arm',
component: 'wokwi-robotic-arm',
argTypes: {
shoulderAngle: { control: { type: 'range', min: 240, max: 360 } },
elbowAngle: { control: { type: 'range', min: 0, max: 134 } },
gripperAngle: { control: { type: 'range', min: 264, max: 360 } },
wristAngle: { control: { type: 'range', min: 0, max: 100 } },
gripperColor: { control: { type: 'color' } },
armColor: { control: { type: 'color' } },
jointColor: { control: { type: 'color' } },
},
args: {
shoulderAngle: 240,
elbowAngle: 100,
gripperAngle: 280,
wristAngle: 56,
gripperColor: '#eeeedd',
armColor: '#ffffdd',
jointColor: '#111111',
},
};

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

export const Default = Template.bind({});
Default.args = {
shoulderAngle: 297,
elbowAngle: 52,
wristAngle: 56,
gripperAngle: 270,
gripperColor: '#eeeedd',
armColor: '#ffffdd',
jointColor: '#111111',
};
209 changes: 209 additions & 0 deletions src/robotic-arm-element.ts
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import { html, LitElement } from 'lit';
import { customElement, property } from 'lit/decorators.js';
import { ElementPin } from '.';
import { GND, VCC } from './pin';

@customElement('wokwi-robotic-arm')
export class RoboticArmElement extends LitElement {
/**
* Angle of shoulder
*/
@property() shoulderAngle = 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[] = [
{ 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' }] },
{ name: 'VCC', y: 195, x: 44.5, number: 4, signals: [VCC()] },
{ name: 'GND', y: 195, x: 49, number: 5, signals: [GND()] },
];

render() {
const { elbowAngle, wristAngle, shoulderAngle, gripperAngle } = this;
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="40" 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="${this.jointColor}" />
<rect x="58" y="250" width="1" height="9" fill="${this.jointColor}" />
<rect x="64" y="250" width="1" height="9" fill="${this.jointColor}" />
</g>
<g transform="translate(46.71 210.57)">
<!-- Shoulder -->
<g transform="rotate(${shoulderAngle})">
<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(${elbowAngle})">
<!-- Wrist -->
<g transform="translate(98) rotate(${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(-${gripperAngle})">
<g transform="translate(38.91 -6.36) rotate(${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(${gripperAngle})">
<g transform="translate(40.91 4.68) rotate(-${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>
`;
}
}