{
  "name": "SyArm_Mk1",
  "conf_version": "0.0.1/2023/02/21",
  "author": "Samuel Nösslböck",

  "lk": {
    "u": 12,
    "s_f": 1.5
  },

  "anchor": [ 0.0, 0.0, 100.0 ],
  "dims": [
    [ 0.0, 0.0, 15.0 ],
    [ 0.0, 285.0, 0.0 ],
    [ 0.0, 285.0, 0.0 ],
    [ 0.0, 45.0, 0.0 ]
  ],
  "axes": [
    [ 0.0, 0.0, 1.0 ],
    [ 1.0, 0.0, 0.0 ],
    [ 1.0, 0.0, 0.0 ],
    [ 1.0, 0.0, 0.0 ]
  ],

  "comps": [
    {
      "name": "Base",
      "type_name": "stepper_lib::comp::gear_bearing::GearJoint",
      "obj": {
        "ctrl": {
          "consts": "MOT_17HE15_1504S",
          "pin_dir": 17,
          "pin_step": 26
        },
        "ratio": 0.08333
      },
      "sim": {
        "mass": 0.2,
        "fric": 2.0
      },
      "meas": {
        "pin": 16,
        "set_val": 0.0,
        "dist": 0.0
      },
      "limit": {
        "vel": 5.0,
        "min": -3.14,
        "max": 3.14
      }
    },
    {
      "name": "Arm_1",
      "type_name": "stepper_lib::comp::cylinder_triangle::CylinderTriangle",
      "obj": {
        "cylinder": {
          "ctrl": {
            "consts": "MOT_17HE15_1504S",
            "pin_dir": 5,
            "pin_step": 9
          },
          "rte_ratio": 1.273
        },
        "l_a": 134.0,
        "l_b": 203.5
      },
      "ang": {
        "offset": 2.282,
        "counter": true
      },
      "sim": {
        "mass": 0.5
      },
      "meas": {
        "pin": 25,
        "set_val": 0.3856,
        "dist": -250.0
      },
      "limit": {
        "max": 2.0,
        "vel": 50.0
      }
    },
    {
      "name": "Arm_2",
      "type_name": "stepper_lib::comp::cylinder_triangle::CylinderTriangle",
      "obj": {
        "cylinder": {
          "ctrl": {
            "consts": "MOT_17HE15_1504S",
            "pin_dir": 22,
            "pin_step": 11
          },
          "rte_ratio": 1.273
        },
        "l_a": 152,
        "l_b": 142.5
      },
      "ang": {
        "offset": -2.78
      }, 
      "sim": {
        "mass": 0.5
      },  
      "meas": {
        "pin": 7,
        "set_val": 0.75,
        "dist": -250.0
      },
      "limit": {
        "max": 2.25,
        "vel": 50.0
      }
    },
    {
      "name": "Arm_3",
      "type_name": "stepper_lib::comp::gear_bearing::GearJoint",
      "obj": {
        "ctrl": {
          "consts": "MOT_17HE15_1504S",
          "pin_dir": 27,
          "pin_step": 19
        },
        "ratio": 0.1
      },
      "sim": {
        "mass": 0.5
      }, 
      "meas": {
        "pin": 8,
        "set_val": -1.84,
        "dist": -6.3
      },
      "limit": {
        "max": 0.3,
        "vel": 2.0
      }
    }
  ],
  "tools": [
    {
      "name": "AxisBearing_Mk1",
      "type_name": "stepper_lib::comp::tool::axial_joint::AxialJoint",
      "obj": {
        "servo": {
          "consts": "MG996R",
          "pwm": 23
        }, 
        "length": 50.0,
        "mass": 0.1
      }
    },
    {
      "name": "AxisTongs_Mk1",
      "type_name": "stepper_lib::comp::tool::axis_tongs::AxisTongs",
      "obj": {
        "axis": {
          "servo": {
            "consts": "MG996R",
            "pwm": 23
          }, 
          "length": 50.0,
          "mass": 0.1
        },
        "tongs": {
          "servo": {
            "consts": "MG996R",
            "pwm": 13
          }, 
          "perc_open": 0.7,
          "perc_close": 0.4,
          "length": 50.0,
          "mass": 0.1
        }
      }
    },
    {
      "name": "No_Tool",
      "type_name": "stepper_lib::comp::tool::no_tool::NoTool",
      "obj": { }
    },
    {
      "name": "Edding_Tool",
      "type_name": "stepper_lib::comp::tool::pencil_tool::PencilTool",
      "obj": {
        "length": 100.0,
        "mass": 0.25
      }
    },
    {
      "name": "SimpleTongs_Mk2",
      "type_name": "stepper_lib::comp::tool::tongs::Tongs",
      "obj": {
        "servo": {
          "consts": "MG996R",
          "pwm": 13
        }, 
        "perc_open": 0.7,
        "perc_close": 0.4,
        "length": 50.0,
        "mass": 0.1
      }
    }
  ]
}