# -*- coding: utf-8 -*-
"""实测接口数值：电机模组、端面齿联轴器、配合公差与电机轴向公差。

全部 MEASURED 自 G:/Robot_v2/Model/Solidworks/电机.STEP 与配件（见 docs/interfaces.md）。
改之前先确认量的是同一个基准面。"""

# 注：本段由 armcore.py 原样搬来，行内容与注释未作改动。

# ---------------- MEASURED: motor module (local frame: origin = PCBA rear face centre, +Z = output) ----
M = dict(
    pcba_w=63.6,          # square PCBA across flats
    pcba_t=9.0,           # z 0 -> 9.0
    rearplate_d=60.0,     # z 5.5 -> 10.5
    hous_d=60.0,          # housing OD, z 10.5 -> 52.5
    hous_len=42.0,
    cover_d=60.30,        # top cover OD (R30.15), z 52.5 -> 56.0
    cover_z=56.0,         # cover front face = module total length
    flange_z=54.942,      # 2nd-stage output flange face
    neck_d=36.0,          # female neck bore in the cover
    neck_depth=1.0,
    centre_d=6.5,         # centre bore in the flange
    centre_depth=4.0,
    m2_bcd=29.0,
    m2_clock=(8.05, 128.07, 248.06),
    m2_tap_d=1.85,        # M2 pilot for self-tapping in printed material
    m2_depth=6.0,
    m2_clear_d=2.75,
    m2_cb_d=5.2,
)
# ---------------- MEASURED: face-spline coupling (existing, printed by the user) ------------------------
C = dict(
    n_teeth=12, tooth_r0=19.0, tooth_r1=24.5, tooth_s=2.5,
    flange_t=4.50, part_z=5.560,          # mirrored stack
    hub_r=27.0,
    gap=9.00,                             # cover-face to cover-face when closed
    clamp_od_r=30.0, clamp_len=7.80,
    lug_r1=37.0, lug_t=4.50,
    bolt_r=32.50, bolt_d=3.80,
    z0=1.66, z1=9.46,                     # clamp envelope in the flange frame (motor cover face = 1.060)
)
# axial stations, motor local frame:
COVER_Z = M["cover_z"]                    # 56.0
HUB_FACE_Z = COVER_Z + C["gap"]           # 65.0 = mating face of the driven hub
CLAMP_R = C["clamp_od_r"] + 0.6           # radial keep-out around the joint axis
LUG_R = C["lug_r1"] + 1.0                 # radial keep-out where the bolt lugs are
# ---------------- clearances / print rules -------------------------------------------------------------
CLR = dict(bore_slip=0.20, pilot=0.10, hole_3=3.4, hole_27=2.8, wall_min=2.0)
FIT = dict(motor_bore_d=M["hous_d"] + 2 * 0.15, cover_cb_d=M["cover_d"] + 2 * 0.35)

# 电机【轴向长度】公差（用户 2026-10-07 要求：余量偏大稍微减去 1mm，由 2mm 改为 1mm）。
# 这条链是"后端板螺钉 + 前端压盖螺钉"两个刚性夹持面，螺钉头一旦坐死在沉孔台阶上
# 就再也不能进给，所以公差没法靠"拧紧"消化，只能靠两件事吃掉（见 arm_build.Joint.pocket
# 与 motor_front_clamp）：
#   长出来的 0~+1mm  -> 后端板 4xM3 螺钉头下垫 0~1mm 垫片圈（螺钉被垫高 -> 电机被拉回）
#   短下去的 0~-1mm  -> 电机尾端面与后端板承压面之间垫 0~1mm 垫片（承压面已按 MOTOR_TOL
#                       让空，见 Joint.pocket 的 REAR_SEAT）
# 两边都不动压盖/凸台的几何，关节轴向长度不变。
MOTOR_TOL = 1.0