# No. 70 (Brown 1868): intermittent rotary motion by a tappet and studs, the driver's rim the stop.
#
# As drawn (cm; the drawing plane is x-z, depth y, C in front): C at the right (the one motor-driven shaft,
# turning against the clock) is a hub and three spokes carrying a rim, a ring 0.3 thick standing out from the
# spokes toward A, and inside it the tappet B. A at the left (behind) has 12 studs on its face reaching into
# the rim's depth. Between strokes two of A's studs bear on the rim's exterior (0.02 clear) and the stud between
# them stands inside the rim: A cannot turn. An opening in the rim, the tappet opposite its middle, lets the
# inside stud out as the tappet pushes it and the next stud in; the opening's ends then set A to the pitch.
# The opening is generated by sweeping the studs along A's motion. Generator: opencode-runs/batch8/gen070.py.
number: 70
slug: tappet-rim-stop-studs
name: Intermittent motion by a tappet and studs, the driver's rim a stop
brown: "The driving-wheel, C, has a rim, shown in dotted outline, the exterior of which serves as a bearing and stop for the studs on the other wheel, A, when the tappet, B, is out of contact with the studs. An opening in this rim serves to allow one stud to pass in and another to pass out. The tappet is opposite the middle of this opening."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: PGS
  multiccd: false
  duration_s: 24
  floor: false
bodies:
  - id: wheel_a
    shape: part
    pos: [-5.5, 0, 0]
    friction: 0.1
    color: "#e4d9bf"
    pieces:
      - {kind: disc, center: [-5.5, 0], radius: 4.8, y: [1.6, 2.4]}   # A
      - {kind: disc, center: [-5.5, 0], radius: 0.9, y: [2.4, 3.2], color: "#8f8a80"}
      # its 12 studs
      - {kind: rod, from: [-1.3, 1.6, 0.0], to: [-1.3, -0.9, 0.0], radius: 0.35, capsule: true, collide: 2, color: "#6b5a44"}
      - {kind: rod, from: [-1.8627, 1.6, 2.1], to: [-1.8627, -0.9, 2.1], radius: 0.35, capsule: true, collide: 2, color: "#6b5a44"}
      - {kind: rod, from: [-3.4, 1.6, 3.6373], to: [-3.4, -0.9, 3.6373], radius: 0.35, capsule: true, collide: 2, color: "#6b5a44"}
      - {kind: rod, from: [-5.5, 1.6, 4.2], to: [-5.5, -0.9, 4.2], radius: 0.35, capsule: true, collide: 2, color: "#6b5a44"}
      - {kind: rod, from: [-7.6, 1.6, 3.6373], to: [-7.6, -0.9, 3.6373], radius: 0.35, capsule: true, collide: 2, color: "#6b5a44"}
      - {kind: rod, from: [-9.1373, 1.6, 2.1], to: [-9.1373, -0.9, 2.1], radius: 0.35, capsule: true, collide: 2, color: "#6b5a44"}
      - {kind: rod, from: [-9.7, 1.6, 0.0], to: [-9.7, -0.9, 0.0], radius: 0.35, capsule: true, collide: 2, color: "#6b5a44"}
      - {kind: rod, from: [-9.1373, 1.6, -2.1], to: [-9.1373, -0.9, -2.1], radius: 0.35, capsule: true, collide: 2, color: "#6b5a44"}
      - {kind: rod, from: [-7.6, 1.6, -3.6373], to: [-7.6, -0.9, -3.6373], radius: 0.35, capsule: true, collide: 2, color: "#6b5a44"}
      - {kind: rod, from: [-5.5, 1.6, -4.2], to: [-5.5, -0.9, -4.2], radius: 0.35, capsule: true, collide: 2, color: "#6b5a44"}
      - {kind: rod, from: [-3.4, 1.6, -3.6373], to: [-3.4, -0.9, -3.6373], radius: 0.35, capsule: true, collide: 2, color: "#6b5a44"}
      - {kind: rod, from: [-1.8627, 1.6, -2.1], to: [-1.8627, -0.9, -2.1], radius: 0.35, capsule: true, collide: 2, color: "#6b5a44"}
  - id: wheel_c
    shape: part
    pos: [2.1962, 0, 0]
    friction: 0.1
    color: "#e8dec6"
    pieces:
      - {kind: disc, center: [2.1962, 0], radius: 0.9, y: [-1.6, -1.0], color: "#8f8a80"}   # C's hub
      - {kind: rod, from: [2.1962, -1.3, 0], to: [-1.8538, -1.3, 0.0], radius: 0.25, color: "#cfc4ad"}
      - {kind: rod, from: [2.1962, -1.3, 0], to: [4.2212, -1.3, -3.5074], radius: 0.25, color: "#cfc4ad"}
      - {kind: rod, from: [2.1962, -1.3, 0], to: [4.2212, -1.3, 3.5074], radius: 0.25, color: "#cfc4ad"}
      # its rim, with the opening
      - {kind: poly, points: [[6.1161, -0.0274], [6.3761, -0.0292], [6.3956, 0.0733], [6.3726, 0.175], [6.1128, 0.1642], [6.0956, 0.0681]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[6.1147, 0.1095], [6.3746, 0.1167], [6.3905, 0.2198], [6.3639, 0.3207], [6.1047, 0.3007], [6.0909, 0.2041]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[6.1085, 0.2461], [6.368, 0.2625], [6.3803, 0.3661], [6.3502, 0.4659], [6.0918, 0.437], [6.0814, 0.3399]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[6.0975, 0.3825], [6.3563, 0.4079], [6.3649, 0.5119], [6.3314, 0.6106], [6.0742, 0.5726], [6.0672, 0.4753]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[6.0818, 0.5184], [6.3395, 0.5528], [6.3445, 0.657], [6.3076, 0.7546], [6.0518, 0.7076], [6.0482, 0.6101]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[6.0613, 0.6537], [6.3177, 0.6971], [6.3191, 0.8014], [6.2787, 0.8976], [6.0248, 0.8418], [6.0246, 0.7442]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[6.0362, 0.7882], [6.2909, 0.8405], [6.2886, 0.9448], [6.2449, 1.0395], [5.9931, 0.9749], [5.9963, 0.8773]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[6.0063, 0.9218], [6.259, 0.9829], [6.2531, 1.087], [6.2062, 1.1802], [5.9567, 1.1068], [5.9633, 1.0094]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[5.9718, 1.0542], [6.2223, 1.1241], [6.2127, 1.228], [6.1625, 1.3194], [5.9158, 1.2373], [5.9258, 1.1402]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[5.9327, 1.1853], [6.1806, 1.2639], [6.1674, 1.3674], [6.1141, 1.457], [5.8704, 1.3664], [5.8838, 1.2697]], y: [-1.6, 1.2], collide: 1}
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      - {kind: poly, points: [[5.4613, 2.1693], [5.6529, 2.2966], [5.6121, 2.3918], [5.5365, 2.4627], [5.3514, 2.3262], [5.3909, 2.2369]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[5.3836, 2.2819], [5.5706, 2.4158], [5.5265, 2.5096], [5.4486, 2.5778], [5.2683, 2.4349], [5.3109, 2.3471]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[5.302, 2.3918], [5.4842, 2.5321], [5.4369, 2.6243], [5.3566, 2.6897], [5.1815, 2.5406], [5.2271, 2.4543]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[5.2166, 2.4987], [5.3939, 2.6453], [5.3434, 2.7358], [5.2608, 2.7984], [5.091, 2.6433], [5.1396, 2.5586]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[5.1276, 2.6026], [5.2996, 2.7553], [5.246, 2.8439], [5.1613, 2.9036], [4.997, 2.7427], [5.0485, 2.6598]], y: [-1.6, 1.2], collide: 1}
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      - {kind: poly, points: [[5.8704, -1.3664], [6.1141, -1.457], [6.1674, -1.3674], [6.1806, -1.2639], [5.9327, -1.1853], [5.8838, -1.2697]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[5.9158, -1.2373], [6.1625, -1.3194], [6.2127, -1.228], [6.2223, -1.1241], [5.9718, -1.0542], [5.9258, -1.1402]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[5.9567, -1.1068], [6.2062, -1.1802], [6.2531, -1.087], [6.259, -0.9829], [6.0063, -0.9218], [5.9633, -1.0094]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[5.9931, -0.9749], [6.2449, -1.0395], [6.2886, -0.9448], [6.2909, -0.8405], [6.0362, -0.7882], [5.9963, -0.8773]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[6.0248, -0.8418], [6.2787, -0.8976], [6.3191, -0.8014], [6.3177, -0.6971], [6.0613, -0.6537], [6.0246, -0.7442]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[6.0518, -0.7076], [6.3076, -0.7546], [6.3445, -0.657], [6.3395, -0.5528], [6.0818, -0.5184], [6.0482, -0.6101]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[6.0742, -0.5726], [6.3314, -0.6106], [6.3649, -0.5119], [6.3563, -0.4079], [6.0975, -0.3825], [6.0672, -0.4753]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[6.0918, -0.437], [6.3502, -0.4659], [6.3803, -0.3661], [6.368, -0.2625], [6.1085, -0.2461], [6.0814, -0.3399]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[6.1047, -0.3007], [6.3639, -0.3207], [6.3905, -0.2198], [6.3746, -0.1167], [6.1147, -0.1095], [6.0909, -0.2041]], y: [-1.6, 1.2], collide: 1}
      - {kind: poly, points: [[6.1128, -0.1642], [6.3726, -0.175], [6.3956, -0.0733], [6.3761, 0.0292], [6.1161, 0.0274], [6.0956, -0.0681]], y: [-1.6, 1.2], collide: 1}
      - {kind: rod, from: [1.0962, 0.1, 1.9053], to: [0.2462, 0.1, 3.3775], radius: 0.3, capsule: true, collide: 1, color: "#6b5a44"}   # the tappet B (its depth: from the spokes to the rim's edge)
      - {kind: rod, from: [1.7462, -0.6, 0.7794], to: [1.0962, -0.6, 1.9053], radius: 0.3, color: "#6b5a44"}   # its arm from the hub
      - {kind: rod, from: [2.1962, -1.0, 0], to: [2.1962, 3.2, 0], radius: 0.35, color: "#8f8a80"}   # C's shaft
  - id: frame
    shape: frame
    color: "#8f8a80"
    rods:
      - {from: [-5.5, 3.2, 0], to: [-5.5, 4.4, 0], radius: 0.6}
      - {from: [2.1962, 3.2, 0], to: [2.1962, 4.4, 0], radius: 0.6}
joints:
  - {id: j_c, type: hinge, body: wheel_c, axis: [0, -1, 0], damping: 0.05}   # positive: against the clock, as drawn
  - {id: j_a, type: hinge, body: wheel_a, axis: [0, 1, 0], damping: 0.005}
contact: {solref: [0.002, 1.0], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver: {joint: j_c, kind: velocity, rpm: 12, kv: 2, max_torque: 20}
checks:
  - {type: ratio, out: j_a, in: j_c, expect: 0.08333, tol: 0.001, settle_s: 3.76, window_s: 15.38}   # one stud a turn (three whole turns of C, mid-dwell to mid-dwell)
  - {type: still, joint: j_a, max: 0.005, settle_s: 4.0, window_s: 1.5}   # held by the rim between strokes
  - {type: penetration, max: 0.001, settle_s: 0.5}
camera: {target: [-1.5, 0, 0], position: [-1.5, -60, 8], fov: 34}
display:
  output: j_a
  labels: {j_c: "C with its rim and tappet B (driver)", j_a: "A, the stud wheel"}
  proof: {label: "Tappet out of contact", sub: "A is never turned"}