# No. 99 (Brown 1868): "Spiral guide attached to the face of a disk; used for the feed-motion of a drilling machine."
#
# Model (cm): a disk (8 turns a minute, the one driven joint) carries a spiral groove on its face (1.06 cm wide, its centre line
# starting 3 cm out and opening 0.5 cm to the radian, 1.56 turns). The drill-spindle slide's pin works in the groove by real
# contact, so each turn of the disk feeds the drill 3.14 cm forward, steadily, into the work. Generator: opencode-runs/batch9/gen099.py.
number: 99
slug: spiral-guide-drill-feed
name: A spiral guide on a disk, feeding a drill
brown: "Spiral guide attached to the face of a disk; used for the feed-motion of a drilling machine."
units: cm
sim:
  timestep: 0.0005
  integrator: implicitfast
  iterations: 50
  solver: PGS
  duration_s: 11
  floor: false
bodies:
  - id: disk
    shape: part
    pos: [0, 0, 0]
    mass: 1.0
    friction: 0.05
    color: "#d9cfb6"
    pieces:
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      - {kind: disc, center: [0, 0], radius: 9.53, y: [0.4, 0.8]}   # the disk the spiral is cut in
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      - {kind: poly, points: [[-5.2519, 4.3727], [-5.6585, 3.9112], [-5.2689, 3.5979], [-4.892, 4.0256]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-5.6585, 3.9112], [-6.0244, 3.4119], [-5.6082, 3.1348], [-5.2689, 3.5979]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-6.0244, 3.4119], [-6.346, 2.8782], [-5.9066, 2.6396], [-5.6082, 3.1348]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-6.346, 2.8782], [-6.6201, 2.3143], [-6.1611, 2.1161], [-5.9066, 2.6396]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-6.6201, 2.3143], [-6.8439, 1.7242], [-6.3689, 1.5681], [-6.1611, 2.1161]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-6.8439, 1.7242], [-7.0148, 1.1126], [-6.5277, 0.9997], [-6.3689, 1.5681]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-7.0148, 1.1126], [-7.1309, 0.4841], [-6.6356, 0.4155], [-6.5277, 0.9997]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-7.1309, 0.4841], [-7.1904, -0.1562], [-6.6909, -0.1801], [-6.6356, 0.4155]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-7.1904, -0.1562], [-7.1921, -0.8033], [-6.6926, -0.7822], [-6.6909, -0.1801]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-7.1921, -0.8033], [-7.1354, -1.4519], [-6.6397, -1.386], [-6.6926, -0.7822]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-7.1354, -1.4519], [-7.0199, -2.0968], [-6.5322, -1.9866], [-6.6397, -1.386]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-7.0199, -2.0968], [-6.846, -2.7325], [-6.3701, -2.579], [-6.5322, -1.9866]], y: [-0.4, 0.4], collide: 1}
  - id: drill
    shape: part
    pos: [3.0, 0, 0]
    mass: 0.2
    friction: 0.05
    color: "#b8ad97"
    pieces:
      - {kind: rod, from: [3.0, -0.3, 0], to: [3.0, 0.3, 0], radius: 0.5, collide: 2, capsule: true, color: "#8f8a80"}   # the pin
      - {kind: poly, points: [[3.5, -0.5], [19.0, -0.5], [19.0, 0.5], [3.5, 0.5]], y: [-0.4, 0.4]}   # the spindle slide
      - {kind: poly, points: [[19.0, -0.35], [22.0, -0.35], [22.0, 0.35], [19.0, 0.35]], y: [-0.3, 0.3], color: "#8f8a80"}   # the drill
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#cfc6b4"
    pieces:
      - {kind: poly, points: [[-1.4, -13], [1.4, -13], [1.0, 0], [-1.0, 0]], y: [1.8, 2.8]}   # the disk's standard, behind
      - {kind: poly, points: [[8.0, -1.6], [20.0, -1.6], [20.0, -0.7], [8.0, -0.7]], y: [-0.8, 1.2]}   # the slide's lower guide
      - {kind: poly, points: [[8.0, 0.7], [20.0, 0.7], [20.0, 1.6], [8.0, 1.6]], y: [-0.8, 1.2]}   # the upper guide
      - {kind: poly, points: [[8.0, -1.6], [20.0, -1.6], [20.0, 1.6], [8.0, 1.6]], y: [1.2, 2.2]}   # their back plate
      - {kind: poly, points: [[16.0, -13], [18.0, -13], [18.0, -1.6], [16.0, -1.6]], y: [1.2, 2.2]}   # their post
      - {kind: poly, points: [[27.4, 0.8], [34.4, 0.8], [34.4, 4.5], [27.4, 4.5]], y: [-0.8, 1.2], color: "#b9b09c"}   # the work, above the hole
      - {kind: poly, points: [[27.4, -4.5], [34.4, -4.5], [34.4, -0.8], [27.4, -0.8]], y: [-0.8, 1.2], color: "#b9b09c"}   # and below
      - {kind: poly, points: [[32.4, -4.5], [34.4, -4.5], [34.4, 4.5], [32.4, 4.5]], y: [-0.8, 1.2], color: "#b9b09c"}   # the hole's bottom
      - {kind: poly, points: [[28.4, -13], [33.4, -13], [33.4, -4.5], [28.4, -4.5]], y: [-0.8, 1.2]}   # the work's stand
      - {kind: poly, points: [[-12, -14], [38.4, -14], [38.4, -13], [-12, -13]], y: [-3, 3], color: "#b9b09c"}
joints:
  - {id: j_c, type: hinge, body: disk, axis: [0, 1, 0], damping: 0.002}   # the one driven joint; + : clockwise
  - {id: j_x, type: slide, body: drill, axis: [1, 0, 0], range: [-1.0, 5.9], damping: 1.0}   # the drill slide in its guides, fed by the spiral; + : on, into the work
driver: {joint: j_c, kind: velocity, rpm: 8.0, kv: 20.0, max_torque: 20}
checks:
  - {type: follow, out: j_x, in: j_c, expect: 0.005, tol: 0.00015, min_r2: 0.999, settle_s: 1.0, window_s: 4.0}   # feed: K a radian, first half
  - {type: follow, out: j_x, in: j_c, expect: 0.005, tol: 0.00015, min_r2: 0.999, settle_s: 5.5, window_s: 4.5}   # and the second
  - {type: position, joint: j_x, min: -0.05, max: 4.95, settle_s: 0.5, window_s: 10}
camera: {target: [13.2, 0, -2.5], position: [13.2, -95, 0], fov: 34}
display:
  output: j_x
  labels: {j_c: "Spiral disk (driver)", j_x: "Drill slide"}
  proof: {label: "Spiral walls out of contact", sub: "the disk turns but the drill stands"}