Introducing the pirouette FPV frame for GFPV
Signed-off-by: Arnaud Morin <arnaud.gfpv@mailops.fr>
This commit is contained in:
Arnaud Morin
240
frame.py
Normal file
240
frame.py
Normal file
@@ -0,0 +1,240 @@
|
||||
# @author Arnaud Morin <arnaud.gfpv@mailops.fr>
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
#
|
||||
|
||||
import os
|
||||
|
||||
import cadquery as cq
|
||||
from cadquery import exporters
|
||||
|
||||
import frame_params as P
|
||||
from arm import result as ARM
|
||||
from motor_base import result as MOTOR_BASE
|
||||
from plate import result as PLATE
|
||||
from spar import result as SPAR
|
||||
from camera_mount import result as CAMERA_MOUNT
|
||||
import standoff as SO
|
||||
from standoff import result as STANDOFF
|
||||
from lollipop import result as LOLLIPOP
|
||||
|
||||
OUT = "build"
|
||||
|
||||
TPU_DENSITY = 1.21e-3 # g/mm3, for the printed camera_mount only
|
||||
|
||||
COLORS = {
|
||||
"plate": cq.Color(0.16, 0.17, 0.20), # near-black carbon
|
||||
"arm": cq.Color(0.85, 0.24, 0.16), # red
|
||||
"motor_base": cq.Color(0.20, 0.45, 0.80), # blue
|
||||
"spar": cq.Color(0.22, 0.62, 0.35), # green
|
||||
"camera_mount": cq.Color(0.95, 0.78, 0.09), # yellow TPU
|
||||
"standoff": cq.Color(0.75, 0.76, 0.78), # aluminium
|
||||
"lollipop": cq.Color(0.95, 0.78, 0.09), # yellow TPU, as the mount
|
||||
"prop": cq.Color(0.55, 0.55, 0.60), # opaque: a ring hides
|
||||
# nothing, so there is no
|
||||
# call for transparency
|
||||
}
|
||||
|
||||
DENSITY = {
|
||||
"plate": P.CF_DENSITY, "arm": P.CF_DENSITY,
|
||||
"motor_base": P.CF_DENSITY, "spar": P.CF_DENSITY,
|
||||
"camera_mount": TPU_DENSITY,
|
||||
"standoff": SO.ALU_DENSITY,
|
||||
"lollipop": TPU_DENSITY,
|
||||
}
|
||||
|
||||
# --- propellers -------------------------------------------------------------
|
||||
# Shown, never made. A prop is not a part of this frame: it is the volume the
|
||||
# frame has to stay out of, so it goes into the assembly for the picture and
|
||||
# is kept out of PARTS, which is what drives the BOM and the exports.
|
||||
PROP_D = 78.0 # 3 inch. Same number as the motor-to-motor gap, so
|
||||
# on a true X neighbouring discs just touch -- that
|
||||
# is the whole point of drawing them
|
||||
PROP_T = 1.0 # token thickness; this is a swept circle, not a blade
|
||||
PROP_RING = 1.5 # radial width. A ring, not a filled disc: the tip
|
||||
# circle is the whole point and a disc just buries
|
||||
# the frame under it
|
||||
PROP_MOTOR_H = 15.0 # motors are not modelled either, so this is only how
|
||||
# far above the motor base the disc floats -- about a
|
||||
# 1404's height
|
||||
# The prop's colour lives in COLORS with the others, deliberately. A bare
|
||||
# module-level cq.Color breaks CQ-editor: it walks the module's globals after
|
||||
# running the script and compares them against the object being shown, and
|
||||
# Color.__eq__ does self.toTuple() == other.toTuple() -- which blows up on an
|
||||
# Assembly, since Assembly has no toTuple. Inside a dict it is never
|
||||
# compared, which is why the four part colours never caused this.
|
||||
SHOW_PROPS = False # the discs are for looking at, so if a viewer will
|
||||
# not show the assembly with them in it, turn them
|
||||
# off here rather than unpicking build()
|
||||
|
||||
# name, solid, thickness, flat-pattern face selector ("flat" lies in XY already,
|
||||
# "edge" is a vertical plate and has to be tipped down for the cutter, "solid"
|
||||
# is a printed part with no flat pattern -- STEP only, no DXF)
|
||||
PARTS = [
|
||||
("plate", PLATE, P.THICKNESS, "flat"),
|
||||
("arm", ARM, P.THICKNESS, "edge"),
|
||||
("motor_base", MOTOR_BASE, P.THICKNESS, "flat"),
|
||||
("spar", SPAR, P.THICKNESS, "edge"),
|
||||
("camera_mount", CAMERA_MOUNT, P.THICKNESS, "solid"),
|
||||
("standoff", STANDOFF, SO.OD, "solid"),
|
||||
("lollipop", LOLLIPOP, 3.5, "solid"),
|
||||
]
|
||||
|
||||
|
||||
def _loc(x, y, z, rot_z, flip=0.0):
|
||||
"""Placement: flip about the part's own X axis first, then rot_z about the
|
||||
world Z axis, then translate. Matches the helpers' documented order."""
|
||||
L = cq.Location(cq.Vector(x, y, z), cq.Vector(0, 0, 1), rot_z)
|
||||
if flip:
|
||||
L = L * cq.Location(cq.Vector(0, 0, 0), cq.Vector(1, 0, 0), flip)
|
||||
return L
|
||||
|
||||
|
||||
def pieces():
|
||||
"""[(name, tag, solid, Location)] -- the 19 bodies, straight off the
|
||||
placement helpers: 2 plates, 4 arms, 8 motor bases, 4 spars, 1 camera
|
||||
mount."""
|
||||
out = []
|
||||
for i, (x, y, z, rz) in enumerate(P.plate_placements()):
|
||||
out.append(("plate", "plate_%s" % ("bottom", "top")[i],
|
||||
PLATE, _loc(x, y, z, rz)))
|
||||
for i, (x, y, z, rz) in enumerate(P.arm_placements()):
|
||||
out.append(("arm", "arm_%d" % i, ARM, _loc(x, y, z, rz)))
|
||||
for i, (x, y, z, rz, fl) in enumerate(P.motor_placements()):
|
||||
# first four sit on top of the corners, last four underneath them
|
||||
side = "top" if i < 4 else "bot"
|
||||
out.append(("motor_base", "motor_base_%s%d" % (side, i % 4),
|
||||
MOTOR_BASE, _loc(x, y, z, rz, fl)))
|
||||
for i, (x, y, z, rz, fl) in enumerate(P.spar_placements()):
|
||||
out.append(("spar", "spar_%d" % i, SPAR, _loc(x, y, z, rz, fl)))
|
||||
# camera_mount: bolts to the top plate's own 25.5x25.5 FC holes, which it
|
||||
# matches exactly -- no rotation needed, just sat on the top face
|
||||
out.append(("camera_mount", "camera_mount_0", CAMERA_MOUNT,
|
||||
_loc(0.0, 0.0, P.Z_TOP_FACE, 0.0)))
|
||||
# standoffs: they stand on the bottom plate and their height is the plate
|
||||
# gap, so they meet the top plate's underside exactly
|
||||
for i, (x, y, z, rz) in enumerate(P.standoff_placements()):
|
||||
out.append(("standoff", "standoff_%d" % i, STANDOFF, _loc(x, y, z, rz)))
|
||||
# lollipop: clipped over the rear standoff pair, the only pair 28 apart.
|
||||
# Its own pads sit at (5, +-14), so they run along Y -- the 90 deg turn
|
||||
# is what lays them across the X pair, and the -25 then carries them from
|
||||
# y = 5 onto y = -20. z = 7 puts the pads over the posts and is the one
|
||||
# height that clears both plates.
|
||||
out.append(("lollipop", "lollipop_0", LOLLIPOP,
|
||||
_loc(0.0, -22.0, 7.0, 90.0)))
|
||||
return out
|
||||
|
||||
|
||||
def propellers():
|
||||
"""(tag, solid, Location) for the four prop rings, centred on the motor
|
||||
axes. Representation only -- see the note by PROP_D."""
|
||||
ring = (cq.Workplane("XY")
|
||||
.circle(PROP_D / 2.0)
|
||||
.circle(PROP_D / 2.0 - PROP_RING)
|
||||
.extrude(PROP_T))
|
||||
z = P.Z_MOTOR_BASE + P.THICKNESS + PROP_MOTOR_H
|
||||
return [("prop_%d" % i, ring, _loc(x, y, z, 0.0))
|
||||
for i, (x, y) in enumerate(P.motor_positions())]
|
||||
|
||||
|
||||
def build(ps=None, props=True):
|
||||
asy = cq.Assembly(name="frame_3in")
|
||||
for name, tag, solid, loc in (ps or pieces()):
|
||||
asy.add(solid, name=tag, loc=loc, color=COLORS[name])
|
||||
if props:
|
||||
for tag, solid, loc in propellers():
|
||||
asy.add(solid, name=tag, loc=loc, color=COLORS["prop"])
|
||||
return asy
|
||||
|
||||
|
||||
# --- flat profile for the cutter --------------------------------------------
|
||||
|
||||
def cut_profile(part, kind):
|
||||
"""The single face the part is milled out of, laid into XY at z = 0.
|
||||
|
||||
A vertical plate is tipped down about X so that its -Y side face comes up
|
||||
normal-up with the part's own +Z running up the page: the outline is then
|
||||
the right way round, not mirrored."""
|
||||
face = part.faces("<Z" if kind == "flat" else "<Y").val()
|
||||
if kind == "edge":
|
||||
face = face.rotate((0, 0, 0), (1, 0, 0), -90.0)
|
||||
z = min(v.Z for v in face.Vertices())
|
||||
return cq.Workplane("XY").add(face.translate((0.0, 0.0, -z)))
|
||||
|
||||
|
||||
# --- measurements ------------------------------------------------------------
|
||||
|
||||
|
||||
def bom(ps):
|
||||
print("bill of materials")
|
||||
print(" %-12s %4s %6s %9s %9s" % ("part", "qty", "t/mm", "g each", "g"))
|
||||
total = 0.0
|
||||
for name, solid, thick, _ in PARTS:
|
||||
qty = sum(1 for n, _, _, _ in ps if n == name)
|
||||
each = solid.val().Volume() * DENSITY[name]
|
||||
total += each * qty
|
||||
print(" %-12s %4d %6.1f %9.3f %9.3f"
|
||||
% (name, qty, thick, each, each * qty))
|
||||
print(" %-12s %4d %6s %9s %9.3f" % ("FRAME", len(ps), "", "", total))
|
||||
print(" carbon at %.2f g/cm3, TPU camera_mount at %.2f g/cm3,"
|
||||
" aluminium standoffs at %.2f g/cm3;"
|
||||
% (P.CF_DENSITY * 1e3, TPU_DENSITY * 1e3, SO.ALU_DENSITY * 1e3))
|
||||
print(" the standoffs are the only hardware counted -- no screws, motors"
|
||||
" or electronics")
|
||||
return total
|
||||
|
||||
|
||||
def main():
|
||||
import argparse
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument("--no-png", action="store_true",
|
||||
help="skip rendering PNGs -- they're slow, step/dxf export is not")
|
||||
args = parser.parse_args()
|
||||
|
||||
os.makedirs(OUT, exist_ok=True)
|
||||
os.makedirs(OUT + '/step/', exist_ok=True)
|
||||
os.makedirs(OUT + '/dxf/', exist_ok=True)
|
||||
os.makedirs(OUT + '/stl/', exist_ok=True)
|
||||
|
||||
ps = pieces()
|
||||
asy = build(ps)
|
||||
bom(ps)
|
||||
|
||||
print()
|
||||
# Export each piece in step, stl and dxf
|
||||
for name, solid, thick, kind in PARTS:
|
||||
step = os.path.join(OUT + '/step', "%s.step" % name)
|
||||
print(f'Exporting {step}')
|
||||
exporters.export(solid.val(), step)
|
||||
# STL for the slicer. 0.01 mm of chordal deviation is far below what
|
||||
# any printer resolves, and costs a third of what 0.005 does.
|
||||
stl = os.path.join(OUT + '/stl', "%s.stl" % name)
|
||||
print(f'Exporting {stl}')
|
||||
exporters.export(solid.val(), stl,
|
||||
tolerance=0.01, angularTolerance=0.1)
|
||||
if kind == "solid":
|
||||
continue # printed part, no flat pattern to cut
|
||||
dxf = os.path.join(OUT + '/dxf', "%s.dxf" % name)
|
||||
print(f'Exporting {dxf}')
|
||||
exporters.exportDXF(cut_profile(solid, kind), dxf)
|
||||
|
||||
if args.no_png:
|
||||
return
|
||||
|
||||
# Render the frame in png
|
||||
os.makedirs(OUT + '/png/', exist_ok=True)
|
||||
from render import render, render_grid
|
||||
for view in ("iso", "top", "front"):
|
||||
render(asy, "%s/frame_%s.png" % (OUT + '/png', view), view=view)
|
||||
render_grid(asy, "%s/frame_grid.png" % (OUT + '/png'))
|
||||
|
||||
|
||||
result = build(props=SHOW_PROPS)
|
||||
|
||||
if "show_object" not in globals(): # running outside CQ-editor
|
||||
def show_object(*args, **kwargs):
|
||||
pass
|
||||
|
||||
show_object(result)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Reference in New Issue
Block a user