# No. 94 (Brown 1868): "Variable crank, two circular plates revolving on the same center. In one a spiral
# groove is cut; in the other a series of slots radiating from the center. On turning one of these plates around
# its center, the bolt shown near the bottom of the figure, and which passes through the spiral groove and radial
# slots, is caused to move toward or from the center of the plates."
#
# Model (cm): the plate with the spiral groove (the one driven joint, 4 turns a minute, clockwise in the view)
# turns behind the plate with the six radial slots, which is fixed. The bolt passes through both, held in the slot
# (it slides along the slot: its joint) and in the groove by real contact of its shank with the groove's two walls
# (1.0 cm wide, 1.0 mm clearance). The groove is an Archimedean spiral, r = 3 + 1 a, so the bolt
# is moved out 1 cm a radian of turn, from 3 cm toward 8 cm. Generator: opencode-runs/batch8/gen094.py.
number: 94
slug: variable-crank-spiral-groove
name: A variable crank by a bolt in a spiral groove and a radial slot
brown: "Variable crank, two circular plates revolving on the same center. In one a spiral groove is cut; in the other a series of slots radiating from the center. On turning one of these plates around its center, the bolt shown near the bottom of the figure, and which passes through the spiral groove and radial slots, is caused to move toward or from the center of the plates."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: PGS
  multiccd: true
  duration_s: 10
  floor: false
bodies:
  - id: plate
    shape: part
    pos: [0, 0, 0]
    mass: 1.0
    friction: 0.05
    color: "#d9cfb6"
    pieces:
      - {kind: rod, from: [0, -1.4, 0], to: [0, 3.0, 0], radius: 0.8, color: "#8f8a80"}   # the spindle
      - {kind: disc, center: [0, 0], radius: 9.5, y: [0.0, 0.6]}   # the plate with the spiral groove (its walls are raised on it)
      - {kind: poly, points: [[-2.8682, 1.2349], [-2.9957, 1.0765], [-3.3555, 1.3467], [-3.2093, 1.5285]], y: [-0.5, 0.0], collide: 1, color: "#b8ad97"}
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  - id: bolt
    shape: part
    pos: [-3.0, 0, 0.0]
    mass: 0.2
    friction: 0.05
    color: "#8f8a80"
    pieces:
      - {kind: rod, from: [-3.0, -2.3, 0.0], to: [-3.0, 0.3, 0.0], radius: 0.45, collide: 2, capsule: true}   # the bolt
      - {kind: disc, center: [-3.0, 0.0], radius: 0.9, y: [-2.9, -2.3]}   # its head
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#cfc6b4"
    pieces:
      - {kind: disc, center: [0, 0], radius: 2.4, y: [-1.9, -1.3]}   # the slotted plate's hub
      - {kind: poly, points: [[2.4, 0.55], [9.5, 0.55], [9.2851, 2.009], [8.8628, 3.4207], [8.2272, 4.75], [7.3938, 5.9651], [6.3824, 7.0366], [5.2263, 7.9522], [1.6763, 1.8035]], y: [-1.9, -1.3]}   # between the slots
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      - {kind: poly, points: [[-0.7237, -2.3535], [-4.2737, -8.5022], [-2.9027, -9.0457], [-1.469, -9.3857], [-0.0, -9.5], [1.469, -9.3857], [2.9027, -9.0457], [4.2737, -8.5022], [0.7237, -2.3535]], y: [-1.9, -1.3]}   # between the slots
      - {kind: poly, points: [[1.6763, -1.8035], [5.2263, -7.9522], [6.3824, -7.0366], [7.3938, -5.9651], [8.2272, -4.75], [8.8628, -3.4207], [9.2851, -2.009], [9.5, -0.55], [2.4, -0.55]], y: [-1.9, -1.3]}   # between the slots
      - {kind: poly, points: [[-1.6, -14], [1.6, -14], [1.1, 0], [-1.1, 0]], y: [1.0, 2.0]}   # the standard, behind
      - {kind: poly, points: [[-7, -15], [7, -15], [7, -14], [-7, -14]], y: [-3, 3], color: "#b9b09c"}
joints:
  - {id: j_p, type: hinge, body: plate, axis: [0, 1, 0], damping: 0.002}   # the one driven joint; + : clockwise
  - {id: j_b, type: slide, body: bolt, axis: [-1.0, 0, 0.0], damping: 1.0}   # the bolt in the radial slot; + : outward
contact: {solref: [0.002, 1.0], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver: {joint: j_p, kind: velocity, rpm: 4.0, kv: 20.0, max_torque: 20}
checks:
  - {type: follow, out: j_b, in: j_p, expect: 0.01, tol: 0.0002, min_r2: 0.995, settle_s: 1.0, window_s: 3.0}   # the bolt moves out C a radian
  - {type: follow, out: j_b, in: j_p, expect: 0.01, tol: 0.0002, min_r2: 0.995, settle_s: 4.5, window_s: 4.0}   # ... all the way
  - {type: position, joint: j_b, min: -0.2, max: 4.7, settle_s: 0.5, window_s: 9}
  - {type: penetration, max: 0.001, settle_s: 0.5}
camera: {target: [0, 0, -3], position: [0, -90, -2], fov: 34}
display:
  output: j_b
  labels: {j_p: "Spiral plate (driver)", j_b: "Bolt"}
  proof: {label: "Groove walls out of contact", sub: "the plate turns but the bolt stands in its slot"}