# No. 398 (Brown 1868): "Continuous circular motion into intermittent circular—the cam, C, being the driver."
#
# Model (cm, Brown's view): the cam C (the one driven joint, 12 rpm, clockwise as Brown's arrow) has a three-lobed groove in its face; a
# pin on the slide runs in the groove, so the slide is pushed out and drawn in three times a turn. Each stroke is made in two halves with a
# dwell of 12 deg of the cam between them. A connecting rod from the slide's eye turns the wheel's crank, whose throw is half the stroke:
# each stroke turns the wheel half a turn, so the wheel turns three times to the cam's once, and it stops at each dwell, with its crank square
# to the rod (intermittent circular). At the ends of the stroke the slide turns back without stopping, so the wheel's own way carries the crank
# over its dead centres (the pin has 0.1 cm of clearance in the groove); the dwells are put where the crank cannot be turned back. Contact
# only: the pin against the groove's walls (chains of capsules); gravity off (the machine lies flat, as a plan).
# Generator: opencode-runs/batch13/gen398.py.
number: 398
slug: grooved-cam-intermittent-crank
name: Continuous circular into intermittent circular by a grooved cam
brown: "Continuous circular motion into intermittent circular—the cam, C, being the driver."
units: cm
sim: {timestep: 0.0005, integrator: implicitfast, iterations: 60, solver: PGS, duration_s: 16.2, floor: false, gravity: 0}
bodies:
  - id: cam
    shape: part
    pos: [0, 0, 0]
    density: 7800
    color: "#c9bfa8"
    pieces:
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      - {kind: disc, center: [0, 0], radius: 2.2, inner: 1.0, y: [-1.0, 1.0]}   # its boss
      - {kind: rod, from: [0, -1.4, 0], to: [0, 4.0, 0], radius: 1.0, color: "#6f6a60"}   # the shaft
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      - {kind: rod, from: [-8.375, 0, -1.5701], to: [-8.1853, 0, -1.7107], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-8.1853, 0, -1.7107], to: [-7.9704, 0, -1.8522], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-7.9704, 0, -1.8522], to: [-7.7362, 0, -1.9945], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-7.7362, 0, -1.9945], to: [-7.4882, 0, -2.1395], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-7.4882, 0, -2.1395], to: [-7.2306, 0, -2.2914], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-7.2306, 0, -2.2914], to: [-6.9669, 0, -2.457], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-6.9669, 0, -2.457], to: [-6.7005, 0, -2.646], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-6.7005, 0, -2.646], to: [-6.4374, 0, -2.8698], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-6.4374, 0, -2.8698], to: [-6.1895, 0, -3.1379], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-6.1895, 0, -3.1379], to: [-5.9756, 0, -3.45], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.9756, 0, -3.45], to: [-5.8123, 0, -3.7913], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.8123, 0, -3.7913], to: [-5.704, 0, -4.14], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.704, 0, -4.14], to: [-5.6417, 0, -4.4798], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.6417, 0, -4.4798], to: [-5.6113, 0, -4.8051], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.6113, 0, -4.8051], to: [-5.5997, 0, -5.1162], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.5997, 0, -5.1162], to: [-5.5969, 0, -5.4152], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.5969, 0, -5.4152], to: [-5.5954, 0, -5.7025], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.5954, 0, -5.7025], to: [-5.5893, 0, -5.9765], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.5893, 0, -5.9765], to: [-5.5741, 0, -6.2333], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.5741, 0, -6.2333], to: [-5.5473, 0, -6.4679], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.5473, 0, -6.4679], to: [-5.5081, 0, -6.6743], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.5081, 0, -6.6743], to: [-5.4583, 0, -6.847], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.4583, 0, -6.847], to: [-5.4018, 0, -6.9828], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.4018, 0, -6.9828], to: [-5.3436, 0, -7.0823], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.3436, 0, -7.0823], to: [-5.2873, 0, -7.1514], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.2873, 0, -7.1514], to: [-5.1991, 0, -7.2246], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.1991, 0, -7.2246], to: [-5.041, 0, -7.3347], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-5.041, 0, -7.3347], to: [-4.8473, 0, -7.4642], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-4.8473, 0, -7.4642], to: [-4.6502, 0, -7.5885], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-4.6502, 0, -7.5885], to: [-4.45, 0, -7.7076], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-4.45, 0, -7.7076], to: [-4.2467, 0, -7.8215], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-4.2467, 0, -7.8215], to: [-4.0405, 0, -7.93], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-4.0405, 0, -7.93], to: [-3.8315, 0, -8.033], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-3.8315, 0, -8.033], to: [-3.5834, 0, -8.1476], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-3.5834, 0, -8.1476], to: [-3.2719, 0, -8.3111], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-3.2719, 0, -8.3111], to: [-2.9525, 0, -8.5257], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-2.9525, 0, -8.5257], to: [-2.6638, 0, -8.7629], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-2.6638, 0, -8.7629], to: [-2.4019, 0, -9.0123], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-2.4019, 0, -9.0123], to: [-2.16, 0, -9.2662], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-2.16, 0, -9.2662], to: [-1.9313, 0, -9.5186], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-1.9313, 0, -9.5186], to: [-1.7106, 0, -9.7641], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-1.7106, 0, -9.7641], to: [-1.4943, 0, -9.997], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-1.4943, 0, -9.997], to: [-1.281, 0, -10.2116], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-1.281, 0, -10.2116], to: [-1.071, 0, -10.4021], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-1.071, 0, -10.4021], to: [-0.8662, 0, -10.5636], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-0.8662, 0, -10.5636], to: [-0.6695, 0, -10.6928], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-0.6695, 0, -10.6928], to: [-0.4843, 0, -10.7886], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-0.4843, 0, -10.7886], to: [-0.3122, 0, -10.8527], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-0.3122, 0, -10.8527], to: [-0.1524, 0, -10.8886], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-0.1524, 0, -10.8886], to: [-0.0, 0, -10.9], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [-0.0, 0, -10.9], to: [0.1524, 0, -10.8886], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [0.1524, 0, -10.8886], to: [0.3122, 0, -10.8527], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [0.3122, 0, -10.8527], to: [0.4843, 0, -10.7886], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [0.4843, 0, -10.7886], to: [0.6695, 0, -10.6928], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [0.6695, 0, -10.6928], to: [0.8662, 0, -10.5636], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [0.8662, 0, -10.5636], to: [1.071, 0, -10.4021], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [1.071, 0, -10.4021], to: [1.281, 0, -10.2116], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [1.281, 0, -10.2116], to: [1.4943, 0, -9.997], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [1.4943, 0, -9.997], to: [1.7106, 0, -9.7641], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [1.7106, 0, -9.7641], to: [1.9313, 0, -9.5186], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [1.9313, 0, -9.5186], to: [2.16, 0, -9.2662], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [2.16, 0, -9.2662], to: [2.4019, 0, -9.0123], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [2.4019, 0, -9.0123], to: [2.6638, 0, -8.7629], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [2.6638, 0, -8.7629], to: [2.9525, 0, -8.5257], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [2.9525, 0, -8.5257], to: [3.2719, 0, -8.3111], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [3.2719, 0, -8.3111], to: [3.5834, 0, -8.1476], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [3.5834, 0, -8.1476], to: [3.8315, 0, -8.033], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [3.8315, 0, -8.033], to: [4.0405, 0, -7.93], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [4.0405, 0, -7.93], to: [4.2467, 0, -7.8215], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [4.2467, 0, -7.8215], to: [4.45, 0, -7.7076], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [4.45, 0, -7.7076], to: [4.6502, 0, -7.5885], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [4.6502, 0, -7.5885], to: [4.8473, 0, -7.4642], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [4.8473, 0, -7.4642], to: [5.041, 0, -7.3347], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.041, 0, -7.3347], to: [5.1991, 0, -7.2246], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.1991, 0, -7.2246], to: [5.2873, 0, -7.1514], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.2873, 0, -7.1514], to: [5.3436, 0, -7.0823], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.3436, 0, -7.0823], to: [5.4018, 0, -6.9828], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.4018, 0, -6.9828], to: [5.4583, 0, -6.847], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.4583, 0, -6.847], to: [5.5081, 0, -6.6743], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.5081, 0, -6.6743], to: [5.5473, 0, -6.4679], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.5473, 0, -6.4679], to: [5.5741, 0, -6.2333], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.5741, 0, -6.2333], to: [5.5893, 0, -5.9765], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.5893, 0, -5.9765], to: [5.5954, 0, -5.7025], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.5954, 0, -5.7025], to: [5.5969, 0, -5.4152], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.5969, 0, -5.4152], to: [5.5997, 0, -5.1162], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.5997, 0, -5.1162], to: [5.6113, 0, -4.8051], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.6113, 0, -4.8051], to: [5.6417, 0, -4.4798], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.6417, 0, -4.4798], to: [5.704, 0, -4.14], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.704, 0, -4.14], to: [5.8123, 0, -3.7913], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.8123, 0, -3.7913], to: [5.9756, 0, -3.45], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [5.9756, 0, -3.45], to: [6.1895, 0, -3.1379], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [6.1895, 0, -3.1379], to: [6.4374, 0, -2.8698], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [6.4374, 0, -2.8698], to: [6.7005, 0, -2.646], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [6.7005, 0, -2.646], to: [6.9669, 0, -2.457], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [6.9669, 0, -2.457], to: [7.2306, 0, -2.2914], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [7.2306, 0, -2.2914], to: [7.4882, 0, -2.1395], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [7.4882, 0, -2.1395], to: [7.7362, 0, -1.9945], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [7.7362, 0, -1.9945], to: [7.9704, 0, -1.8522], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [7.9704, 0, -1.8522], to: [8.1853, 0, -1.7107], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [8.1853, 0, -1.7107], to: [8.375, 0, -1.5701], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [8.375, 0, -1.5701], to: [8.5341, 0, -1.433], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [8.5341, 0, -1.433], to: [8.6588, 0, -1.3035], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [8.6588, 0, -1.3035], to: [8.7481, 0, -1.1867], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [8.7481, 0, -1.1867], to: [8.8052, 0, -1.0866], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [8.8052, 0, -1.0866], to: [8.837, 0, -1.0032], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [8.837, 0, -1.0032], to: [8.8562, 0, -0.8902], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [8.8562, 0, -0.8902], to: [8.8726, 0, -0.6983], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [8.8726, 0, -0.6983], to: [8.8878, 0, -0.4658], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [8.8878, 0, -0.4658], to: [8.897, 0, -0.233], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
      - {kind: rod, from: [8.897, 0, -0.233], to: [8.9, 0, 0.0], radius: 0.4, collide: 2, capsule: true, color: "#c9bfa8"}
  - id: slide
    shape: part
    pos: [10.0, 0, 0]
    density: 7800
    color: "#b8ad97"
    pieces:
      - {kind: rod, from: [10.0, -1.8, 0], to: [10.0, 0.9, 0], radius: 0.6, collide: 1, capsule: true, color: "#6f6a60"}   # the pin in the groove
      - {kind: rod, from: [10.0, -1.8, 0], to: [14.5, -1.8, 0], radius: 0.7}   # the slide's stem
      - {kind: poly, points: [[14.5, -2.6], [20.5, -2.6], [20.5, 2.6], [14.5, 2.6]], y: [-2.2, -1.4]}   # its block (Brown's frame)
      - {kind: rod, from: [20.5, -1.8, 0], to: [22.0, -1.8, 0], radius: 0.7}
      - {kind: disc, center: [22.0, 0], radius: 1.2, inner: 0.4, y: [-2.2, -1.4]}   # its eye
  - id: rod
    shape: part
    pos: [22.0, 0, 0]
    mount: slide
    density: 7800
    color: "#a39d90"
    pieces:
      - {kind: rod, from: [22.0, -2.8, 0], to: [41.9001, -2.8, 1.9975], radius: 0.45}
      - {kind: disc, center: [22.0, 0], radius: 1.0, inner: 0.3, y: [-3.2, -2.4]}
      - {kind: disc, center: [41.9001, 1.9975], radius: 1.0, inner: 0.3, y: [-3.2, -2.4]}
  - id: wheel
    shape: part
    pos: [42.0, 0, 0]
    density: 7800
    color: "#d9cfb6"
    pieces:
      - {kind: disc, center: [42.0, 0], radius: 11, inner: 9.8, y: [0.4, 1.4]}   # the wheel's rim
      - {kind: disc, center: [42.0, 0], radius: 9.8, y: [0.8, 1.0]}   # its web
      - {kind: rod, from: [42.0, -2.2, 0], to: [41.9001, -2.2, 1.9975], radius: 0.8, color: "#b8ad97"}   # the crank
      - {kind: rod, from: [41.9001, -3.4, 1.9975], to: [41.9001, -2.2, 1.9975], radius: 0.3, color: "#6f6a60"}   # the crank pin
      - {kind: rod, from: [42.0, -2.4, 0], to: [42.0, 3.0, 0], radius: 0.8, color: "#6f6a60"}   # the shaft
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#8f8a80"
    pieces:
      - {kind: rod, from: [13.5, -1.0, 3.2], to: [21.5, -1.0, 3.2], radius: 0.5}   # the slide's guides (Brown's frame bars)
      - {kind: rod, from: [13.5, -1.0, -3.2], to: [21.5, -1.0, -3.2], radius: 0.5}
joints:
  - {id: j_c, type: hinge, body: cam, axis: [0, 1, 0], damping: 0.01}   # the cam: the one driven joint; + : clockwise
  - {id: j_s, type: slide, body: slide, axis: [1, 0, 0], damping: 0.05, range: [-2.6, 2.6]}   # the slide; + : out (to the right)
  - {id: j_r, type: hinge, body: rod, axis: [0, 1, 0], damping: 0.001}
  - {id: j_w, type: hinge, body: wheel, axis: [0, 1, 0], damping: 0.002}   # the wheel
pins:
  - {id: p_crank, a: rod, b: wheel, at: [41.9001, 0, 1.9975]}
contact: {solref: [0.002, 1], solimp: [0.95, 0.99, 0.001], margin: 0}
driver: {joint: j_c, kind: velocity, rpm: 12, kv: 20, max_torque: 80}
checks:
  - {type: ratio, out: j_w, in: j_c, expect: 3.0, tol: 0.06, settle_s: 0.88, window_s: 15.12}   # three turns of the wheel to one of the cam (three lobes, a half turn a stroke)
  - {type: monotonic, joint: j_w, direction: 1, max_back: 0.1, settle_s: 0.1, window_s: 15.5}   # always the same way: carried over each dead centre
  - {type: still, joint: j_w, max: 0.25, settle_s: 2.52, window_s: 0.13}   # stopped while the slide dwells (the third dwell)
  - {type: position, joint: j_w, min: 9.35, max: 9.75, settle_s: 2.52, window_s: 0.13}   # three half turns on, the crank square to the rod
  - {type: penetration, max: 0.002, settle_s: 0.5}
camera: {target: [21, 0, 1], position: [21, -92, 1], fov: 34}
display:
  output: j_w
  labels: {j_c: "Cam C (driver)", j_s: "Slide", j_w: "Wheel"}