# parameters that define the geometry
# see scarakins.c for definitions
# these numbers match the defaults there,
# and will need to be changed if you are
# not using the defaults.
# TODO: automate getting these values
d1 = 490.0
d2 = 340.0
d3 = 50.0
d4 = 250.0
d5 = 50.0
d6 = 50.0
j3min = 40.0
j3max = 270.0
# calculate a bunch of other dimensions that are used
# to scale the model of the machine
# most of these scale factors are arbitrary, to give
# a nicely proportioned machine. If you know specifics
# for the machine you are modeling, feel free to change
# these numbers
tool_len = math.sqrt(d5*d5+d6*d6) # don't change
tool_dia = tool_len / 6.0
l1_dia = d2 / 4.0
l2_dia = d4 / 5.0
l3_dia = l2_dia * 0.8;
j2_dia = l2_dia * 1.8;
j2_hi = l2_dia * 1.3;