# No. 215 (Brown 1868): "214 and 215. Other modifications of the stop, the operations of which will be easily understood by a comparison with 212."
#
# Model (cm): as No. 212, but with 6 slots and the wheels side by side. A, on the left (the square arbor), is a disc of radius 4.6 with a bite cut in its edge, and a pin
# (pin circle 5.500, radius 0.55) at the bottom of the bite; an outer ring is drawn behind it. B, on the right, 11 away, has 6 slots, and between them flanks cut to A's disc
# (clearance 0.05), so it is locked except while the pin is in a slot, which turns it a 6th of a turn. One flank is left uncut: when the pin brings it round, it meets A's disc
# and A can go no further. The bite is A's disc less the room B sweeps through in its steps (by sweep). Only A is driven: turned to and fro by hand, +-22 rad at 0.06 Hz,
# with a torque limit of 1.5 N m, so it stalls at each stop. Generator: opencode-runs/batch11/gen215.py (from gen212.py).
number: 215
slug: stop-bitten-disc
name: A stop by a bitten disc and a six-slotted wheel
brown: "Other modifications of the stop, the operations of which will be easily understood by a comparison with 212."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: PGS
  multiccd: true
  duration_s: 17.0
  floor: false
bodies:
  - id: a
    shape: part
    pos: [0, 0, 0]
    density: 2700
    friction: 0.1
    color: "#d9cfb6"
    pieces:
      - {kind: poly, points: [[1.7603, -4.2498], [1.7598, -4.2501], [1.7591, -4.2504], [1.7585, -4.2506], [1.7578, -4.2509], [1.7571, -4.2512], [1.7565, -4.2514], [1.7558, -4.2517], [1.7552, -4.252], [1.7545, -4.2522], [1.7538, -4.2525], [1.7532, -4.2528], [1.7526, -4.253], [1.752, -4.2533], [1.7513, -4.2536], [1.7506, -4.2538], [1.75, -4.2541], [1.7493, -4.2544], [1.7487, -4.2547], [1.748, -4.2549], [1.7473, -4.2552], [1.7467, -4.2555], [1.746, -4.2557], [1.7454, -4.256], [1.7447, -4.2563], [1.7441, -4.2565], [1.7434, -4.2568], [1.7428, -4.2571], [1.7421, -4.2574], [1.7415, -4.2576], [1.7408, -4.2579], [1.7402, -4.2581], [1.7395, -4.2584], [1.7389, -4.2587], [1.7382, -4.2589], [1.7376, -4.2592], [1.7369, -4.2595], [1.7363, -4.2597], [1.7356, -4.26], [1.735, -4.2603], [1.7343, -4.2605], [1.7337, -4.2608], [1.733, -4.2611], [1.7323, -4.2613], [1.7317, -4.2616], [1.731, -4.2619], [1.7303, -4.2621], [1.7297, -4.2624], [1.729, -4.2627], [1.7284, -4.2629], [1.7277, -4.2632], [1.7271, 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      - {kind: disc, center: [0, 0], radius: 6.4, inner: 5.1, y: [1.0, 1.5], collide: 0, color: "#c9bd9c"}   # the outer ring of the plate, behind (drawn and weighed; symmetric)
      - {kind: disc, center: [0, 0], radius: 1.4, inner: 0.5, y: [-1.2, 1.2], collide: 0}   # the boss
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    shape: part
    pos: [11, 0, 0]
    density: 2700
    friction: 0.1
    color: "#cbbd99"
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2.9121], [20.1041, 2.8842], [20.1129, 2.8562], [20.1216, 2.8282], [20.1302, 2.8002], [20.1388, 2.7722], [20.1472, 2.7442], [20.1556, 2.7161], [20.1639, 2.688], [20.1721, 2.6599], [20.1802, 2.6317], [20.1883, 2.6035], [20.1962, 2.5753], [20.2041, 2.5471], [20.2118, 2.5189], [20.2195, 2.4906], [20.2271, 2.4623], [20.2346, 2.434], [20.242, 2.4056], [20.2494, 2.3773], [20.2566, 2.3489], [20.2638, 2.3205], [20.2709, 2.292], [20.2779, 2.2636], [20.2848, 2.2351], [20.2916, 2.2066], [20.2983, 2.1781], [20.3049, 2.1496], [20.3115, 2.121], [20.318, 2.0924], [20.3243, 2.0638], [20.3306, 2.0352], [20.3368, 2.0066], [20.3429, 1.9779], [20.349, 1.9492], [20.3549, 1.9205], [20.3607, 1.8918], [20.3665, 1.8631], [20.3722, 1.8344], [20.3778, 1.8056], [20.3833, 1.7768], [20.3887, 1.748], [20.394, 1.7192], [20.3992, 1.6904], [20.4043, 1.6615], [20.4094, 1.6327], [20.4144, 1.6038], [20.4192, 1.5749], [20.424, 1.546], [20.4287, 1.5171], [20.4333, 1.4882], [20.4379, 1.4592], [20.4423, 1.4303], [20.4466, 1.4013], [20.4509, 1.3723], [20.4551, 1.3433], [20.4591, 1.3143], [20.4631, 1.2852], [20.467, 1.2562], [20.4708, 1.2272], [20.4745, 1.1981], [20.4782, 1.169], [20.4817, 1.1399], [20.4852, 1.1108], [20.4885, 1.0817], [20.4918, 1.0526], [20.495, 1.0235], [20.4981, 0.9944], [20.5011, 0.9652], [20.504, 0.9361], [20.5068, 0.9069], [20.5096, 0.8777], [20.5122, 0.8486], [20.5148, 0.8194], [20.5173, 0.7902], [20.5196, 0.761], [20.5219, 0.7318], [20.5241, 0.7025], [20.5262, 0.6733], [20.5283, 0.6441], [20.5302, 0.6149], [20.532, 0.5856], [20.5338, 0.5564], [20.5354, 0.5271], [20.537, 0.4979], [20.5385, 0.4686], [20.5399, 0.4393], [20.5412, 0.4101], [20.5424, 0.3808], [20.5435, 0.3515], [20.5446, 0.3222], [20.5455, 0.2929], [20.5464, 0.2637], [20.5471, 0.2344], [20.5478, 0.2051], [20.5484, 0.1758], [20.5489, 0.1465], [20.5493, 0.1172], [20.5496, 0.0879], [20.5498, 0.0586], [20.55, 0.0293], [20.55, -0.0], [20.55, -0.0293], [20.5498, -0.0586], [20.5496, -0.0879], [20.5493, -0.1172], [20.5489, -0.1465], [20.5484, -0.1758], [20.5478, -0.2051], [20.5471, -0.2344], [20.5464, -0.2637], [20.5455, -0.2929], [20.5446, -0.3222], [20.5435, -0.3515], [20.5424, -0.3808], [20.5412, -0.4101], [20.5399, -0.4393], [20.5385, -0.4686], [20.537, -0.4979], [20.5354, -0.5271], [20.5338, -0.5564], [20.532, -0.5856], [20.5302, -0.6149], [20.5283, -0.6441], [20.5262, -0.6733], [20.5241, -0.7025], [20.5219, -0.7318], [20.5196, -0.761], [20.5173, -0.7902], [20.5148, -0.8194], [20.5122, -0.8486], [20.5096, -0.8777], [20.5068, -0.9069], [20.504, -0.9361], [20.5011, -0.9652], [20.4981, -0.9944], [20.495, -1.0235], [20.4918, -1.0526], [20.4885, -1.0817], [20.4852, -1.1108], [20.4817, -1.1399], [20.4782, -1.169], [20.4745, -1.1981], [20.4708, -1.2272], [20.467, -1.2562], [20.4631, -1.2852], [20.4591, -1.3143], [20.4551, -1.3433], [20.4509, -1.3723], [20.4466, -1.4013], [20.4423, -1.4303], [20.4379, -1.4592], [20.4333, -1.4882], [20.4287, -1.5171], [20.424, -1.546], [20.4192, -1.5749], [20.4144, -1.6038], [20.4094, -1.6327], [20.4043, -1.6615], [20.3992, -1.6904], [20.394, -1.7192], [20.3887, -1.748], [20.3833, -1.7768], [20.3778, -1.8056], [20.3722, -1.8344], [20.3665, -1.8631], [20.3607, -1.8918], [20.3549, -1.9205], [20.349, -1.9492], [20.3429, -1.9779], [20.3368, -2.0066], [20.3306, -2.0352], [20.3243, -2.0638], [20.318, -2.0924], [20.3115, -2.121], [20.3049, -2.1496], [20.2983, -2.1781], [20.2916, -2.2066], [20.2848, -2.2351], [20.2779, -2.2636], [20.2709, -2.292], [20.2638, -2.3205], [20.2566, -2.3489], [20.2494, -2.3773], [20.242, -2.4056], [20.2346, -2.434], [20.2271, -2.4623], [20.2195, -2.4906], [20.2118, -2.5189], [20.2041, -2.5471], [20.1962, -2.5753], [20.1883, -2.6035], [20.1802, -2.6317], [20.1721, -2.6599], [20.1639, -2.688], [20.1556, -2.7161], [20.1472, -2.7442], [20.1388, -2.7722], [20.1302, -2.8002], [20.1216, -2.8282], [20.1129, -2.8562], [20.1041, -2.8842], [20.0952, -2.9121], [20.0862, -2.94], [20.0771, -2.9678], [20.068, -2.9957], [20.0588, -3.0235], [20.0494, -3.0512], [20.04, -3.079], [20.0305, -3.1067], [20.021, -3.1344], [20.0113, -3.1621], [20.0016, -3.1897], [19.9917, -3.2173], [19.9818, -3.2449], [19.9718, -3.2724], [19.9618, -3.2999], [19.9516, -3.3274], [19.9413, -3.3548], [19.931, -3.3823], [19.9206, -3.4096], [19.9101, -3.437], [19.8995, -3.4643], [19.8888, -3.4916], [19.8781, -3.5189], [19.8672, -3.5461], [19.8563, -3.5733], [19.8453, -3.6004], [19.8342, -3.6275], [19.823, -3.6546], [19.8118, -3.6817], [19.8005, -3.7087], [19.789, -3.7357], [19.7775, -3.7626], [19.766, -3.7895], [19.7543, -3.8164], [19.7425, -3.8433], [19.7307, -3.8701], [19.7188, -3.8968], [19.7068, -3.9236], [19.6947, -3.9502], [19.6826, -3.9769], [19.6703, -4.0035]], y: [-0.8, -0.4], collide: 2}   # the uncut flank
      - {kind: disc, center: [8.5, 0.0], radius: 1.9705, y: [0.85, 2.75], collide: 0, color: "#b8ab8a"}   # a counterweight behind B, opposite its uncut flank, so B is balanced
      - {kind: disc, center: [11, 0], radius: 1.4, inner: 0.5, y: [-1.2, 1.2], collide: 0}   # the boss
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#cfc6b4"
    pieces:
      - {kind: rod, from: [0, -1.3, 0], to: [0, 3.6, 0], radius: 0.5, collide: 0, color: "#8f8a80"}   # A's arbor
      - {kind: rod, from: [11, -1.3, 0], to: [11, 3.6, 0], radius: 0.5, collide: 0, color: "#8f8a80"}   # B's stud
      - {kind: poly, points: [[-1, -0.9], [12, -0.9], [12, 0.9], [-1, 0.9]], y: [3.0, 3.6], collide: 0}   # the bar, behind
      - {kind: poly, points: [[4.6, -11.5], [6.4, -11.5], [6.4, -0.9], [4.6, -0.9]], y: [3.0, 3.6], collide: 0}   # the standard
      - {kind: poly, points: [[-3.5, -12.5], [14.5, -12.5], [14.5, -11.5], [-3.5, -11.5]], y: [-2, 3.6], collide: 0, color: "#b9b09c"}
joints:
  - {id: j_a, type: hinge, body: a, axis: [0, -1, 0], damping: 0.01}   # the one driven joint; +: counter-clockwise
  - {id: j_b, type: hinge, body: b, axis: [0, -1, 0], damping: 0.002, frictionloss: 0.002}
contact: {solref: [0.002, 1.0], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver: {joint: j_a, kind: velocity, rpm: 0, swing: {amplitude: 22, hz: 0.06}, kv: 20, max_torque: 1.5}
checks:
  - {type: position, joint: j_a, min: -15.69, max: 15.69, settle_s: 0, window_s: 16.9}   # A's two stops, 4.9 turns apart
  - {type: position, joint: j_b, min: -2.40, max: 2.40, settle_s: 0, window_s: 16.9}   # four steps of 60 degrees and a little way into each stop
  - {type: penetration, max: 0.001, settle_s: 0.5}
camera: {target: [5.5, 0, -2.5], position: [5.5, -80, -1.5], fov: 34}
display:
  output: j_b
  labels: {j_a: "Bitten disc A (driver)", j_b: "Slotted wheel B"}
  proof: {label: "Contact off", sub: "A turns on freely and B stays put"}