diff --git a/.gitignore b/.gitignore index c073f43..af2ea8e 100644 --- a/.gitignore +++ b/.gitignore @@ -19,3 +19,4 @@ doc/doxygen_sqlite3.db ## gitbook generated /_book/ +/node_modules/ diff --git a/README.md b/README.md index 886f412..bb6bad9 100644 --- a/README.md +++ b/README.md @@ -18,7 +18,7 @@ It is useful to serve on `localhost` to modify the website and see changes local 1. From the root of the project, run the following command (which is universal for all [Gitbook (legacy)](https://github.com/GitbookIO/gitbook)-based projects): ```bash -gitbook serve # command builds and serves +gitbook serve # command builds and serves; for the plugin, before first run please: gitbook install ``` 2. You can now browse the site at the default location: http://127.0.0.1:4000 diff --git a/appendix/a-teo-diagrams.md b/appendix/a-teo-diagrams.md index d7cf3ad..6d5b608 100644 --- a/appendix/a-teo-diagrams.md +++ b/appendix/a-teo-diagrams.md @@ -22,16 +22,12 @@ | DH | ## Joint Limits - -- Joint limits: - - View: [Comma separated vector (.csv)](../assets/motores-motores.csv) - - Original: [LibreOffice Calc (.ods)](../assets/editable/motores.ods) +Can be found at [Motores: motores](/motores.md#motores-motores) ## DH Parameter Table -- DH Parameter Table: - - View: [Markdown (.md)](../assets/dh-table.md) - - Original: [LibreOffice Calc (.ods)](../assets/editable/dh-table.ods) +- Github: [dh-table.csv](/assets/dh-table.csv) +- Gitbook: {% includeCsv src="../assets/dh-table.csv", useHeader="true" %}{% endincludeCsv %} ## DH Coordinate Systems Drawing diff --git a/assets/dh-table.csv b/assets/dh-table.csv new file mode 100644 index 0000000..1277960 --- /dev/null +++ b/assets/dh-table.csv @@ -0,0 +1,37 @@ +Limb,Link,θ,D,A,α +Left leg,1,q7,0,0,90 +,2,-90+q8,0,0,-90 +,3,q9,0,-l10,0 +,4,q10,-l16,-l11,0 +,5,q11,0,0,-90 +,6,q12,0,-l12,0 +Right leg,1,q6,0,0,-90 +,2,90+q5,0,0,-90 +,3,q4,0,l10,0 +,4,q3,l16,l11,0 +,5,q2,0,0,-90 +,6,q1,0,l12,0 +Right arm,1,q15,0,0,90 +,2,-90+q16,0,0,90 +,3,-90+q17,l6,0,90 +,4,q18,0,0,-90 +,5,q19,l7,0,90 +,6,90+q20,0,l8,0 +Left arm,1,q21,0,0,90 +,2,90+q22,0,0,90 +,3,90+q23,l6,0,90 +,4,q24,0,0,-90 +,5,q25,l7,0,90 +,6,90+q26,0,l8,0 +Trunk,1,q13,l0,0,-90 +,2,q14,0,0,0 +Head,1,q27,0,0,90 +,2,q28,0,0,-90 +H_head_rgb,TrasZ(-l14) * TrasY(l3) * RotY(90) * RotZ(180),,,, +H_head_depth,TrasZ(-l14-l15) * TrasY(l3) * RotY(90) * RotZ(180),,,, +H_head_flea,TrasY(l3+l4) * RotY(90) * RotZ(180),,,, +H_hip_neck,RotX(90) * TrasZ(l1+l2),,,, +H_hip_leftArm,TrasY(-l1) * TrasZ(l5) * RotZ(90),,,, +H_hip_rightArm,TrasY(-l1) * TrasZ(-l5) * RotZ(-90) * RotX(180),,,, +H_root_leftLeg,TrasY(l13) * TrasZ(-l9) * RotZ(90) * RotX(180),,,, +H_root_rightLeg,TrasY(-l13) * TrasZ(-l9) * RotZ(-90),,,, diff --git a/assets/dh-table.md b/assets/dh-table.md deleted file mode 100644 index 3bf20ff..0000000 --- a/assets/dh-table.md +++ /dev/null @@ -1,39 +0,0 @@ -## dh -| Limb | Link | θ | D | A | α | -|:----------------|:---------------------------------------------------|:--------|:-----|:-----|:----| -| Left leg | 1 | q7 | 0 | 0 | 90 | -| | 2 | -90+q8 | 0 | 0 | -90 | -| | 3 | q9 | 0 | -l10 | 0 | -| | 4 | q10 | -l16 | -l11 | 0 | -| | 5 | q11 | 0 | 0 | -90 | -| | 6 | q12 | 0 | -l12 | 0 | -| Right leg | 1 | q6 | 0 | 0 | -90 | -| | 2 | 90+q5 | 0 | 0 | -90 | -| | 3 | q4 | 0 | l10 | 0 | -| | 4 | q3 | l16 | l11 | 0 | -| | 5 | q2 | 0 | 0 | -90 | -| | 6 | q1 | 0 | l12 | 0 | -| Right arm | 1 | q15 | 0 | 0 | 90 | -| | 2 | -90+q16 | 0 | 0 | 90 | -| | 3 | -90+q17 | l6 | 0 | 90 | -| | 4 | q18 | 0 | 0 | -90 | -| | 5 | q19 | l7 | 0 | 90 | -| | 6 | 90+q20 | 0 | l8 | 0 | -| Left arm | 1 | q21 | 0 | 0 | 90 | -| | 2 | 90+q22 | 0 | 0 | 90 | -| | 3 | 90+q23 | l6 | 0 | 90 | -| | 4 | q24 | 0 | 0 | -90 | -| | 5 | q25 | l7 | 0 | 90 | -| | 6 | 90+q26 | 0 | l8 | 0 | -| Trunk | 1 | q13 | l0 | 0 | -90 | -| | 2 | q14 | 0 | 0 | 0 | -| Head | 1 | q27 | 0 | 0 | 90 | -| | 2 | q28 | 0 | 0 | -90 | -| H_head_rgb | TrasZ(-l14) * TrasY(l3) * RotY(90) * RotZ(180) | | | | | -| H_head_depth | TrasZ(-l14-l15) * TrasY(l3) * RotY(90) * RotZ(180) | | | | | -| H_head_flea | TrasY(l3+l4) * RotY(90) * RotZ(180) | | | | | -| H_hip_neck | RotX(90) * TrasZ(l1+l2) | | | | | -| H_hip_leftArm | TrasY(-l1) * TrasZ(l5) * RotZ(90) | | | | | -| H_hip_rightArm | TrasY(-l1) * TrasZ(-l5) * RotZ(-90) * RotX(180) | | | | | -| H_root_leftLeg | TrasY(l13) * TrasZ(-l9) * RotZ(90) * RotX(180) | | | | | -| H_root_rightLeg | TrasY(-l13) * TrasZ(-l9) * RotZ(-90) | | | | | diff --git a/assets/dh-table.png b/assets/dh-table.png deleted file mode 100644 index a211456..0000000 Binary files a/assets/dh-table.png and /dev/null differ diff --git a/assets/editable/dh-table.ods b/assets/editable/dh-table.ods deleted file mode 100644 index dc782d5..0000000 Binary files a/assets/editable/dh-table.ods and /dev/null differ diff --git a/assets/editable/motores.ods b/assets/editable/motores.ods deleted file mode 100644 index 2ec2952..0000000 Binary files a/assets/editable/motores.ods and /dev/null differ diff --git a/book.json b/book.json index 66e27c1..5f43a9a 100644 --- a/book.json +++ b/book.json @@ -1,5 +1,6 @@ { "structure": { "readme": "README-gitbook.md" - } + }, + "plugins": ["include-csv"] } diff --git a/motores.md b/motores.md index 7227c2b..35cd8e2 100644 --- a/motores.md +++ b/motores.md @@ -1,6 +1,23 @@ # Motores -Original with formulas: [LibreOffice Calc (.ods)](assets/src/motores.ods) -- View: [motores-motores.csv](assets/motores-motores.csv) -- View: [motores-protecciones-brazos.csv](assets/motores-protecciones-brazos.csv) -- View: [motores-protecciones-piernas.csv](assets/motores-protecciones-piernas.csv) -- View: [motores-transmision.csv](assets/motores-transmision.csv) +Editable source origin with formulas: [LibreOffice Calc (.ods)](assets/src/motores.ods) + +* [Motores: motores](#motores-motores) +* [Motores: protecciones-brazos](#motores-protecciones-brazos) +* [Motores: protecciones-piernas](#motores-protecciones-piernas) +* [Motores: transmision](#motores-transmision) + +## Motores: motores +- Github: [motores-motores.csv](assets/motores-motores.csv) +- Gitbook: {% includeCsv src="assets/motores-motores.csv", useHeader="true" %}{% endincludeCsv %} + +## Motores: protecciones-brazos +- Github: [motores-protecciones-brazos.csv](assets/motores-protecciones-brazos.csv) +- Gitbook: {% includeCsv src="assets/motores-protecciones-brazos.csv", useHeader="true" %}{% endincludeCsv %} + +## Motores: protecciones-piernas +- Github: [motores-protecciones-piernas.csv](assets/motores-protecciones-piernas.csv) +- Gitbook: {% includeCsv src="assets/motores-protecciones-piernas.csv", useHeader="true" %}{% endincludeCsv %} + +## Motores: transmision +- Github: [motores-transmision.csv](assets/motores-transmision.csv) +- Gitbook: {% includeCsv src="assets/motores-transmision.csv", useHeader="true" %}{% endincludeCsv %}