[ { "path": ".gitattributes", "content": "# Auto detect text files and perform LF normalization\n* text=auto\n" }, { "path": "Assembly & Control Guides/Marlin Guide/marlin_calculator.html", "content": "\n\n\n \n\n\n\n\n\n\n\n" }, { "path": "Assembly & Control Guides/credits.txt", "content": "Jan19: Firmware G28 Homing Improvements by Tehseen Hasan (repo)\n\nFeb19: Robot Controlled by Octoprint with Steps by Leo Yeung\n\nApr19: Firmware M114 & G91 Functions by Stephen Remillard (repo)\n\nApr19: Joystick Controls Demo by Stephen Remillard\n\nJul19: Gripper Pressure Sensor by César Omar Aranda\n\nAug19: NodeMCU Connectivity by Atul Yadav\n\nSep19: Laser Cut Version by Jim Black\n\nDec19: Cute Robot Eyes & Gripper Paperclip Hack by Nemi Rai\n\nJan20: Robot Beer Opener by Gcodeprintr\n\nFeb20: Additional Wrist Axis & Gripper Sensor by Jurek Bohdanowicz\n\nMay20: ROS Software Sharing by Sergio Inacio\n\nMay20: Belt Gear on ftobler version Tutorial by Tehseen Hasan\n\nJun20: Belt Drive & Full Design Revision with Guides by Leo Yeung (repo)\n\nJul20: Robot Plotting on Tablet by Phuntsho Wangdi\n\nJul20: Rail Implementation Demo by Februandi\n\nJul20: Remix Build running on GRBL by Tiago Moreira\n\nJul20: Gripper Design by Februandi\n\nAug20: ‘config.h’ Parameters Consolidation by Leo Yeung (repo) \n\nAug20: Robot Simulation on Rviz by 野田耕大郎\n\nAug20: Conveyor Belt Application by Trần Hậu Hiếu\n\nSep20: Rail Implementation Demo by Muhamad Ikbal Wiguna\n\nSep20: Robot Enclosure Design by Wouter van Schaik (repo)\n\nSep20: Demo of Computer Vision by Tehseen Hasan\n\nOct20: Firmware Rail E Axis Inclusion by Wouter van Schaik (repo)\n\nOct20: Firmware Speed Curve Option with Guide by Leo Yeung (repo)\n\nOct20: Rail E Axis Design with Cute Eyes ;-) by Leo Yeung (repo)\n\nNov20: Robot as 3D Scanner by Gcodeprintr\n\nNov20: Computer Vision Demo by Leo Yeung\n\nNov20: Using YAT Software for Robot Controls by Tehseen Hasan (repo)\n\nDec20: Lego Robot Operator Booth for fun by Leo Yeung\n\nDec20: G2 & G3 Functionality by Leandro Loiacono\n\nDec20: Using ‘Processing’ tool to Execute Robot Firmware by Huang Kai\n\nJan21: Dual Manipulator Support & Shank Extension by Leo Yeung (repo)\n\nJan21: G92 Function, Move Limit Checks by Leandro Loiacono (repo)\n\nJan21: 28BYJ Driven by A4988 & Casing by Wouter van Schaik (repo)\n\nJan21: Bot Driven by 32 Bit Arduino Due by Apiwat Sukjareoon\n\nJan21: Robot Pen Plotting by Leandro Loiacono\n\nJan21: Glow in the Dark Robot by Glenn Boullue\n\nFeb21: Robot Plotting Driven by Marlin by Daniel Formiga\n\nFeb21: Socket & Body (V2) Adjustable Belt Tension by Leo Yeung (repo)\n\nFeb21: ROS Dockerfile sharing (in progress) by Marco Strullato\n\nFeb21: 6 DOF Concept by Bryan Kelly\n\nFeb21: Marlin 2.0 Custom Integration by Leandro Loiacono (repo)\n\nFeb21: Marlin Guides & Parameters Calculator by Leo Yeung (repo)\n\nFeb21: Repeatability, Calliper, Loading Tests by Justin Hulbert\n\nFeb21: v0.41 Dual Shank Lengths by Leandro Loiacono (repo)\n\nFeb21: YAT Guide, V0.41 Guides by Leo Yeung (repo)\n\nFeb21: Blower Fan & Drivers Cooling Duct concept by Brian Lau\n\nMar21: Dual Robots Pick-Drop Collaboration demo by Leo Yeung\n\nMar21: ESP8266 Integration demo by Leandro Loiacono\n\nMar21: Laser cutting with Marlin 2.0 demo by Leo Yeung\n\nMar21: Drinks Distribution in Wedding by Februandi & Muhamad Ikbal Wiguna\n\nMar21: Google Speech Recognition API demo by Leandro Loiacono\n\nMar21: 3D Printing with Robot Arm Update by LH FabLab/3DJLed\n\nMar21: GT2 Timing Belt Printed in TPU by Shravan Nanjunda\n\nMar21: A4988 Gripper Firmware add-on by Wouter van Schaik\n\nMar21: Aluminium Shanks & Gear Box Design by Alfred Abanto/Louie Henson\n\nApr21: Firmware V0.51 with Servo Gripper Support by Leo Yeung (repo)\n\nApr21: Additional Wrist Servo Actuator by Apiwat Sukjareoon\n\nApr21: Using SKR 1.4 Turbo Controller Board by JChester Rayos\n\nApr21: ESP32 Encoder Control demo with Codes by Riley Oblander\n\nApr21: ESP32 Marlin demo by Ionel Ciobanuc\n\nMay21: Uno CNC Controller Option with Guide by Leo Yeung (repo)\n\nMay21: ESP32 PS4 Joystick Control demo & Payload Testing by Leo Yeung\n\nMay21: Plotting & Laser demo in custom design by Hurtado Melendez Efren\n\nJun21: Homing Timeout concept demo & summary by César Omar Aranda\n\nJun21: Turbo Fan Robot Toolhead demo by 官師\n\nJun21: Firmware V0.71 ESP32 Support with Guides by Leo Yeung (repo)\n\nJun21: Wii Remote Control demo by Leo Yeung \n\nJun21: Terminal / Web Control project sharing (in ES) by César Omar Aranda\n\nJun21: Marlin2.0 Laser by Vectric Aspire by Hurtado Melendez Efren\n\nJul21: Robot Image Rendering in Blender with tutorial by Leo Yeung\n\nJul21: Jetson Nano Face Track Initial Test by Vasco Eguren\n\nJul21: Nano-ESP32 pyserial Error findings by Vasco Eguren & Leo Yeung\n\nAug21: Marble Machine automation & MCU case attachment by Brian Lau\n\nAug21: Robot Conveyor Microbit Huskylens System by 최조영\n\nAug21: Controller Enclosure Switch & Led mod by 최조영\n\nAug21: Firmware V0.81 Wiimote & Speed Multiplier by Leo Yeung (repo)\n\nAug21: Kinect Controlled Painting Robot by Alfred Albanto\n\nAug21: Upper Shank V2 Fix by Leo Yeung (repo)\n\nAug21: Wiimote Y Freeze & Servo Pin Error identified by Pattanapong (repo)\n\nSep21: Custom Rail Module with MCU attached by Pattanapong\n\n" }, { "path": "CAD Files/robot_arm_enclosure_v0.2.step", "content": "ISO-10303-21;\nHEADER;\n\n/* File generated by Shapr3D Version 3.0 */\n\nFILE_DESCRIPTION(('HOOPS Exchange Step'),'2;1');\n\nFILE_NAME('/private/var/mobile/Containers/Data/Application/0946B395-5DCC-47DE-8AEB-740C48F2A785/tmp/export/temp_export.step',\n'2020-10-04T22:02:26+08:00',\n('mobile'),\n('Shapr3D Limited'),\n'HOOPS Exchange 2020.2',\n'Shapr3D',\n'Authorized');\n\nFILE_SCHEMA( ('AP203_CONFIGURATION_CONTROLLED_3D_DESIGN_OF_MECHANICAL_PARTS_AND_ASSEMBLIES_MIM_LF') 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0\n vertex 16.4871 -16.8066 0\n endloop\n endfacet\n facet normal 0 0 -1\n outer loop\n vertex 21 -18.4142 0\n vertex 18.1562 -1.78309 0\n vertex 18.3788 -1.68454 0\n endloop\n endfacet\n facet normal 0 0 -1\n outer loop\n vertex 16.2413 -16.6587 0\n vertex 18.1562 -1.78309 0\n vertex 16.4871 -16.8066 0\n endloop\n endfacet\n facet normal 0 0 -1\n outer loop\n vertex 18.1562 -1.78309 0\n vertex 16.2413 -16.6587 0\n vertex 17.9228 -1.85236 0\n endloop\n endfacet\n facet normal 0 0 -1\n outer loop\n vertex 15.9809 -16.5382 0\n vertex 17.9228 -1.85236 0\n vertex 16.2413 -16.6587 0\n endloop\n endfacet\n facet normal 0 0 -1\n outer loop\n vertex 17.9228 -1.85236 0\n vertex 15.9809 -16.5382 0\n vertex 17.6824 -1.89122 0\n endloop\n endfacet\n facet normal 0 0 -1\n outer loop\n vertex 15.709 -16.4466 0\n vertex 17.6824 -1.89122 0\n vertex 15.9809 -16.5382 0\n endloop\n endfacet\n facet normal 0 0 -1\n outer loop\n vertex 17.6824 -1.89122 0\n vertex 15.709 -16.4466 0\n vertex 17.4391 -1.89902 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loop\n vertex -7 28.5 4\n vertex -7 25 3.47487\n vertex -7 25 4\n endloop\n endfacet\n facet normal -1 0 0\n outer loop\n vertex -7 28.5 1\n vertex -7 38.5 0\n vertex -7 28.5 0\n endloop\n endfacet\n facet normal -1 0 0\n outer loop\n vertex -7 28.5 4\n vertex -7 38.5 0\n vertex -7 28.5 1\n endloop\n endfacet\n facet normal -1 0 0\n outer loop\n vertex -7 38.5 0\n vertex -7 28.5 4\n vertex -7 38.5 20\n endloop\n endfacet\n facet normal -1 -0 0\n outer loop\n vertex -7 38.5 20\n vertex -7 28.5 4\n vertex -7 28.5 20\n endloop\n endfacet\n facet normal -0.707107 0.707107 0\n outer loop\n vertex -7 28.5 0\n vertex -10.5 25 0.5\n vertex -7 28.5 1\n endloop\n endfacet\n facet normal -0.707107 0.707107 0\n outer loop\n vertex -10.5 25 0.5\n vertex -7 28.5 0\n vertex -11 24.5 0\n endloop\n endfacet\n facet normal -0.707107 0.707107 0\n outer loop\n vertex -7 28.5 1\n vertex -10.5 25 0.5\n vertex -10.5 25 1\n endloop\n endfacet\n facet normal -0.5 0.5 0.707107\n outer loop\n vertex -7 25 3.47487\n vertex -7 28.5 1\n vertex -10.5 25 1\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0 41.5 16.3\n vertex -4 41.5 20\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.0648003 41.5 16.2984\n vertex 0 41.5 16.3\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.129436 41.5 16.2935\n vertex 0.0648003 41.5 16.2984\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.193756 41.5 16.2855\n vertex 0.129436 41.5 16.2935\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.257591 41.5 16.2742\n vertex 0.193756 41.5 16.2855\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.320786 41.5 16.2598\n vertex 0.257591 41.5 16.2742\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.383183 41.5 16.2422\n vertex 0.320786 41.5 16.2598\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.444626 41.5 16.2216\n vertex 0.383183 41.5 16.2422\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.504967 41.5 16.1979\n vertex 0.444626 41.5 16.2216\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.564049 41.5 16.1713\n vertex 0.504967 41.5 16.1979\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.621731 41.5 16.1417\n vertex 0.564049 41.5 16.1713\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.677864 41.5 16.1093\n vertex 0.621731 41.5 16.1417\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.732315 41.5 16.0741\n vertex 0.677864 41.5 16.1093\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.784943 41.5 16.0363\n vertex 0.732315 41.5 16.0741\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.835621 41.5 15.9959\n vertex 0.784943 41.5 16.0363\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.884224 41.5 15.953\n vertex 0.835621 41.5 15.9959\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.930626 41.5 15.9077\n vertex 0.884224 41.5 15.953\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 0.974712 41.5 15.8602\n vertex 0.930626 41.5 15.9077\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 1.01638 41.5 15.8105\n vertex 0.974712 41.5 15.8602\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 1.05552 41.5 15.7589\n vertex 1.01638 41.5 15.8105\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 1.09203 41.5 15.7053\n vertex 1.05552 41.5 15.7589\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 1.12584 41.5 15.65\n vertex 1.09203 41.5 15.7053\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 1.15683 41.5 15.5931\n vertex 1.12584 41.5 15.65\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 1.18496 41.5 15.5347\n vertex 1.15683 41.5 15.5931\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 1.21014 41.5 15.4749\n vertex 1.18496 41.5 15.5347\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 1.23231 41.5 15.414\n vertex 1.21014 41.5 15.4749\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 1.25141 41.5 15.3521\n vertex 1.23231 41.5 15.414\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 1.26741 41.5 15.2893\n vertex 1.25141 41.5 15.3521\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 4 41.5 20\n vertex 1.28025 41.5 15.2257\n vertex 1.26741 41.5 15.2893\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n 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13.9637\n vertex 0.732315 39.7492 13.9259\n vertex 0.732315 39.7492 6.07411\n endloop\n endfacet\n facet normal -0.18855 -0.982064 0\n outer loop\n vertex 1.01638 39.7016 5.81054\n vertex 0.974712 39.7096 14.1398\n vertex 0.974712 39.7096 5.86019\n endloop\n endfacet\n facet normal -0.153809 -0.988101 0\n outer loop\n vertex 0.790009 39.7408 6.03242\n vertex 0.835621 39.7337 14.0041\n vertex 0.790009 39.7408 13.9676\n endloop\n endfacet\n facet normal -0.153809 -0.988101 -0\n outer loop\n vertex 0.835621 39.7337 14.0041\n vertex 0.790009 39.7408 6.03242\n vertex 0.835621 39.7337 5.99586\n endloop\n endfacet\n facet normal -0.162413 -0.986723 0\n outer loop\n vertex 0.835621 39.7337 5.99586\n vertex 0.884224 39.7257 14.047\n vertex 0.835621 39.7337 14.0041\n endloop\n endfacet\n facet normal -0.162413 -0.986723 -0\n outer loop\n vertex 0.884224 39.7257 14.047\n vertex 0.835621 39.7337 5.99586\n vertex 0.884224 39.7257 5.95297\n endloop\n endfacet\n facet normal -0.1699 -0.985461 0\n 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4.18946\n vertex 0.974712 39.7096 4.13981\n endloop\n endfacet\n facet normal -0.104638 -0.994509 0.00138557\n outer loop\n vertex 0.789925 39.7408 0\n vertex 0.564049 39.7699 3.82874\n vertex 0.52771 39.7737 3.81192\n endloop\n endfacet\n facet normal -0.115032 -0.993362 0.000804066\n outer loop\n vertex 0.789925 39.7408 0\n vertex 0.621731 39.7634 3.85831\n vertex 0.593128 39.7667 3.84319\n endloop\n endfacet\n facet normal -0.10991 -0.993941 0.00107023\n outer loop\n vertex 0.789925 39.7408 0\n vertex 0.593128 39.7667 3.84319\n vertex 0.564049 39.7699 3.82874\n endloop\n endfacet\n facet normal -0.122279 -0.992496 0.000483072\n outer loop\n vertex 0.789925 39.7408 0\n vertex 0.677864 39.7565 3.89072\n vertex 0.621731 39.7634 3.85831\n endloop\n endfacet\n facet normal -0.132984 -0.991118 0.00016918\n outer loop\n vertex 0.789925 39.7408 0\n vertex 0.732315 39.7492 3.92589\n vertex 0.677864 39.7565 3.89072\n endloop\n endfacet\n facet normal -0.136878 -0.990588 2.89792e-06\n outer loop\n vertex 0.789925 39.7408 0\n vertex 0.790009 39.7408 3.96758\n vertex 0.784943 39.7415 3.96373\n endloop\n endfacet\n facet normal -0.144764 -0.989466 -7.21183e-06\n outer loop\n vertex 0.789925 39.7408 0\n vertex 0.784943 39.7415 3.96373\n vertex 0.732315 39.7492 3.92589\n endloop\n endfacet\n facet normal -0.055005 -0.998485 0.00138843\n outer loop\n vertex 0.52771 39.7737 0\n vertex 0.320786 39.7903 3.7402\n vertex 0.264183 39.7934 3.72713\n endloop\n endfacet\n facet normal -0.0962836 -0.995354 0\n outer loop\n vertex 0.52771 39.7737 0\n vertex 0.52771 39.7737 3.81192\n vertex 0.504967 39.7759 3.80208\n endloop\n endfacet\n facet normal -0.0927786 -0.995687 2.11589e-05\n outer loop\n vertex 0.52771 39.7737 0\n vertex 0.504967 39.7759 3.80208\n vertex 0.474915 39.7787 3.78985\n endloop\n endfacet\n facet normal -0.0855712 -0.996332 0.000122414\n outer loop\n vertex 0.52771 39.7737 0\n vertex 0.474915 39.7787 3.78985\n vertex 0.444626 39.7813 3.7784\n endloop\n endfacet\n facet 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39.7934 0\n vertex 0.193756 39.7964 3.71452\n vertex 0.16169 39.7975 3.71009\n endloop\n endfacet\n facet normal -0.0279301 -0.99961 0.000333081\n outer loop\n vertex 0.264183 39.7934 0\n vertex 0.16169 39.7975 3.71009\n vertex 0.129436 39.7984 3.70646\n endloop\n endfacet\n facet normal 0.0469725 -0.998896 -2.67695e-06\n outer loop\n vertex -0.225693 39.7952 3.71974\n vertex -0.257591 39.7937 3.72578\n vertex -0.264183 39.7934 0\n endloop\n endfacet\n facet normal 0.0375583 -0.999294 9.49292e-05\n outer loop\n vertex -0.193752 39.7964 3.71452\n vertex -0.225693 39.7952 3.71974\n vertex -0.264183 39.7934 0\n endloop\n endfacet\n facet normal 0.0342324 -0.999414 0.000158088\n outer loop\n vertex -0.161617 39.7975 3.71008\n vertex -0.193752 39.7964 3.71452\n vertex -0.264183 39.7934 0\n endloop\n endfacet\n facet normal 0.0279965 -0.999608 0.000330694\n outer loop\n vertex -0.12944 39.7984 3.70646\n vertex -0.161617 39.7975 3.71008\n vertex -0.264183 39.7934 0\n endloop\n endfacet\n 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39.7737 0\n endloop\n endfacet\n facet normal 0.0854768 -0.99634 0.000124506\n outer loop\n vertex -0.444626 39.7813 3.7784\n vertex -0.474949 39.7787 3.78987\n vertex -0.52771 39.7737 0\n endloop\n endfacet\n facet normal 0.0815886 -0.996666 0.000210659\n outer loop\n vertex -0.414059 39.7838 3.7677\n vertex -0.444626 39.7813 3.7784\n vertex -0.52771 39.7737 0\n endloop\n endfacet\n facet normal 0.0744133 -0.997227 0.000428603\n outer loop\n vertex -0.383179 39.7861 3.75776\n vertex -0.414059 39.7838 3.7677\n vertex -0.52771 39.7737 0\n endloop\n endfacet\n facet normal 0.0708718 -0.997485 0.000565667\n outer loop\n vertex -0.352142 39.7883 3.7486\n vertex -0.383179 39.7861 3.75776\n vertex -0.52771 39.7737 0\n endloop\n endfacet\n facet normal 0.0638929 -0.997956 0.000894365\n outer loop\n vertex -0.320786 39.7903 3.7402\n vertex -0.352142 39.7883 3.7486\n vertex -0.52771 39.7737 0\n endloop\n endfacet\n facet normal 0.0745471 -0.997217 0\n outer loop\n vertex -0.264183 39.7934 0\n 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6.17126\n vertex -0.593044 39.7667 13.8432\n vertex -0.621731 39.7634 13.8583\n endloop\n endfacet\n facet normal 0.132877 -0.991133 0\n outer loop\n vertex -0.732315 39.7492 13.9259\n vertex -0.677864 39.7565 6.10928\n vertex -0.677864 39.7565 13.8907\n endloop\n endfacet\n facet normal 0.132877 -0.991133 0\n outer loop\n vertex -0.677864 39.7565 6.10928\n vertex -0.732315 39.7492 13.9259\n vertex -0.732315 39.7492 6.07411\n endloop\n endfacet\n facet normal 0.136835 -0.990594 5.39684e-05\n outer loop\n vertex -0.784946 39.7415 6.03627\n vertex -0.732315 39.7492 13.9259\n vertex -0.790012 39.7408 6.03242\n endloop\n endfacet\n facet normal 0.144761 -0.989467 0\n outer loop\n vertex -0.732315 39.7492 6.07411\n vertex -0.732315 39.7492 13.9259\n vertex -0.784946 39.7415 6.03627\n endloop\n endfacet\n facet normal 0.0854535 -0.996342 6.22352e-05\n outer loop\n vertex -0.444626 39.7813 13.7784\n vertex -0.474949 39.7787 13.7899\n vertex -0.52771 39.7737 6.18808\n endloop\n endfacet\n 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13.7486\n vertex -0.383179 39.7861 13.7578\n vertex -0.52771 39.7737 6.18808\n endloop\n endfacet\n facet normal 0.0546855 -0.998504 0\n outer loop\n vertex -0.320786 39.7903 13.7402\n vertex -0.264183 39.7934 6.27287\n vertex -0.264183 39.7934 13.7271\n endloop\n endfacet\n facet normal 0.0546855 -0.998504 0\n outer loop\n vertex -0.264183 39.7934 6.27287\n vertex -0.320786 39.7903 13.7402\n vertex -0.320786 39.7903 6.2598\n endloop\n endfacet\n facet normal 0.0702073 -0.997532 -2.54477e-05\n outer loop\n vertex -0.383179 39.7861 6.24224\n vertex -0.320786 39.7903 13.7402\n vertex -0.391705 39.7855 6.23958\n endloop\n endfacet\n facet normal 0.0791521 -0.996863 -0.000110451\n outer loop\n vertex -0.391705 39.7855 6.23958\n vertex -0.320786 39.7903 13.7402\n vertex -0.444626 39.7813 6.2216\n endloop\n endfacet\n facet normal 0.0704902 -0.997512 -2.78132e-05\n outer loop\n vertex -0.352043 39.7883 6.25142\n vertex -0.320786 39.7903 13.7402\n vertex -0.383179 39.7861 6.24224\n endloop\n 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20\n vertex 1.26741 39.6462 15.2893\n vertex 1.27423 39.6445 15.2575\n endloop\n endfacet\n facet normal -0.224185 -0.974547 -8.22272e-05\n outer loop\n vertex 1.14171 39.6756 15.6217\n vertex 1.12402 39.6793 20\n vertex 1.11663 39.681 20\n endloop\n endfacet\n facet normal -0.219502 -0.975612 -6.24033e-05\n outer loop\n vertex 1.12402 39.6793 20\n vertex 1.14171 39.6756 15.6217\n vertex 1.15683 39.6722 15.5931\n endloop\n endfacet\n facet normal -0.223128 -0.974789 -9.07252e-05\n outer loop\n vertex 1.15683 39.6722 15.5931\n vertex 1.13101 39.6777 20\n vertex 1.12402 39.6793 20\n endloop\n endfacet\n facet normal -0.22296 -0.974828 -8.96942e-05\n outer loop\n vertex 1.13101 39.6777 20\n vertex 1.15683 39.6722 15.5931\n vertex 1.17127 39.6689 15.564\n endloop\n endfacet\n facet normal -0.208108 -0.978106 5.16047e-05\n outer loop\n vertex 1.17127 39.6689 15.564\n vertex 1.13759 39.6763 20\n vertex 1.13101 39.6777 20\n endloop\n endfacet\n facet normal -0.21405 -0.976823 4.34928e-06\n 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20\n vertex 1.17862 39.6664 20\n endloop\n endfacet\n facet normal -0.243918 -0.969796 -0.000430657\n outer loop\n vertex 1.18117 39.6658 20\n vertex 1.27423 39.6445 15.2575\n vertex 1.28025 39.643 15.2257\n endloop\n endfacet\n facet normal -0.268799 -0.963196 -0.000978515\n outer loop\n vertex 1.28025 39.643 15.2257\n vertex 1.18332 39.6652 20\n vertex 1.18117 39.6658 20\n endloop\n endfacet\n facet normal -0.243756 -0.969837 -0.000439197\n outer loop\n vertex 1.18332 39.6652 20\n vertex 1.28025 39.643 15.2257\n vertex 1.28548 39.6417 15.1937\n endloop\n endfacet\n facet normal -0.221621 -0.975133 5.71771e-05\n outer loop\n vertex 1.28548 39.6417 15.1937\n vertex 1.18508 39.6648 20\n vertex 1.18332 39.6652 20\n endloop\n endfacet\n facet normal -0.243957 -0.969786 -0.000435111\n outer loop\n vertex 1.18508 39.6648 20\n vertex 1.28548 39.6417 15.1937\n vertex 1.28991 39.6406 15.1616\n endloop\n endfacet\n facet normal -0.278396 -0.960466 -0.00122788\n outer loop\n vertex 1.28991 39.6406 15.1616\n vertex 1.18646 39.6644 20\n vertex 1.18508 39.6648 20\n endloop\n endfacet\n facet normal -0.244467 -0.969658 -0.000457226\n outer loop\n vertex 1.18646 39.6644 20\n vertex 1.28991 39.6406 15.1616\n vertex 1.29354 39.6397 15.1294\n endloop\n endfacet\n facet normal -0.19802 -0.980198 0.000617363\n outer loop\n vertex 1.29354 39.6397 15.1294\n vertex 1.18745 39.6642 20\n vertex 1.18646 39.6644 20\n endloop\n endfacet\n facet normal -0.245072 -0.969505 -0.000461299\n outer loop\n vertex 1.18745 39.6642 20\n vertex 1.29354 39.6397 15.1294\n vertex 1.29637 39.639 15.0971\n endloop\n endfacet\n facet normal -0.316227 -0.948681 -0.00214907\n outer loop\n vertex 1.29637 39.639 15.0971\n vertex 1.18805 39.664 20\n vertex 1.18745 39.6642 20\n endloop\n endfacet\n facet normal -0.248604 -0.968605 -0.000553478\n outer loop\n vertex 1.18805 39.664 20\n vertex 1.29637 39.639 15.0971\n vertex 1.29839 39.6385 15.0648\n endloop\n endfacet\n facet normal -0.203954 -0.97898 0\n outer 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vertex 1.09203 39.6862 5.70531\n endloop\n endfacet\n facet normal -0.208176 -0.978091 0.00092264\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.05552 39.6938 4.24113\n vertex 1.05032 39.6949 4.23396\n endloop\n endfacet\n facet normal -0.205339 -0.97869 0.00109955\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.09203 39.6862 4.29469\n vertex 1.05552 39.6938 4.24113\n endloop\n endfacet\n facet normal -0.223693 -0.97466 0.000319897\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.17125 39.6689 4.43594\n vertex 1.15683 39.6722 4.40693\n endloop\n endfacet\n facet normal -0.219547 -0.975602 0.000469669\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.15683 39.6722 4.40693\n vertex 1.14166 39.6756 4.37822\n endloop\n endfacet\n facet normal -0.211471 -0.977384 0.000792269\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.14166 39.6756 4.37822\n vertex 1.12584 39.679 4.35\n endloop\n endfacet\n facet normal -0.232499 -0.972597 9.37335e-05\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.19794 39.6628 4.49507\n vertex 1.18496 39.6659 4.46533\n endloop\n endfacet\n facet normal -0.214992 -0.976616 0.000602234\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.18496 39.6659 4.46533\n vertex 1.17125 39.6689 4.43594\n endloop\n endfacet\n facet normal -0.229596 -0.973286 0.000184439\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.22161 39.6573 4.55539\n vertex 1.21014 39.66 4.52506\n endloop\n endfacet\n facet normal -0.2244 -0.974497 0.000303001\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.21014 39.66 4.52506\n vertex 1.19794 39.6628 4.49507\n endloop\n endfacet\n facet normal -0.243961 -0.969785 -6.24803e-05\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.24224 39.6523 4.61682\n vertex 1.23231 39.6548 4.58597\n endloop\n endfacet\n facet normal -0.233593 -0.972334 9.37383e-05\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.25141 39.6501 4.64791\n vertex 1.24224 39.6523 4.61682\n endloop\n endfacet\n facet normal -0.228098 -0.973638 0.000214421\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.23231 39.6548 4.58597\n vertex 1.22161 39.6573 4.55539\n endloop\n endfacet\n facet normal -0.242244 -0.970215 2.14312e-06\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.26741 39.6462 4.71072\n vertex 1.2598 39.6481 4.6792\n endloop\n endfacet\n facet normal -0.242211 -0.970224 2.44308e-06\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.27422 39.6445 4.74237\n vertex 1.26741 39.6462 4.71072\n endloop\n endfacet\n facet normal -0.232272 -0.972651 0.000110721\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.2598 39.6481 4.6792\n vertex 1.25141 39.6501 4.64791\n endloop\n endfacet\n facet normal -0.241441 -0.970416 8.24271e-06\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.28025 39.643 4.77426\n vertex 1.27422 39.6445 4.74237\n endloop\n endfacet\n facet normal -0.240561 -0.970634 1.22768e-05\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.28991 39.6406 4.83835\n vertex 1.28547 39.6417 4.80618\n endloop\n endfacet\n facet normal -0.240254 -0.97071 1.30845e-05\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.29637 39.639 4.90285\n vertex 1.29354 39.6397 4.87062\n endloop\n endfacet\n facet normal -0.240463 -0.970658 1.25647e-05\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.29839 39.6385 4.93524\n vertex 1.29637 39.639 4.90285\n endloop\n endfacet\n facet normal -0.240745 -0.970589 1.15564e-05\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.29354 39.6397 4.87062\n vertex 1.28991 39.6406 4.83835\n endloop\n endfacet\n facet normal -0.241699 -0.970351 6.65663e-06\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.28547 39.6417 4.80618\n vertex 1.28025 39.643 4.77426\n endloop\n endfacet\n facet normal -0.247779 -0.968817 0\n outer loop\n vertex 1.3 39.6381 15\n vertex 1.30782 39.6361 20\n vertex 1.3 39.6381 20\n endloop\n endfacet\n facet normal -0.247779 -0.968817 0\n outer loop\n vertex 1.3 39.6381 5.00002\n vertex 1.30782 39.6361 20\n vertex 1.3 39.6381 15\n endloop\n endfacet\n facet normal -0.247779 -0.968817 -0\n outer loop\n vertex 1.30782 39.6361 20\n vertex 1.3 39.6381 5.00002\n vertex 1.30782 39.6361 0\n endloop\n endfacet\n facet normal -0.238152 -0.971228 1.60212e-05\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.3 39.6381 5.00002\n vertex 1.29959 39.6382 4.96759\n endloop\n endfacet\n facet normal -0.242737 -0.970092 7.94475e-06\n outer loop\n vertex 1.30782 39.6361 0\n vertex 1.29959 39.6382 4.96759\n vertex 1.29839 39.6385 4.93524\n endloop\n endfacet\n facet normal -0.223338 -0.974741 0.000134135\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.17125 39.6689 14.4359\n vertex 1.15683 39.6722 14.4069\n endloop\n endfacet\n facet normal -0.214301 -0.976768 0.00026409\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.18496 39.6659 14.4653\n vertex 1.17125 39.6689 14.4359\n endloop\n endfacet\n facet normal -0.219066 -0.97571 0.000202707\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.15683 39.6722 14.4069\n vertex 1.14166 39.6756 14.3782\n endloop\n endfacet\n facet normal -0.232366 -0.972628 3.24042e-05\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.19794 39.6628 14.4951\n vertex 1.18496 39.6659 14.4653\n endloop\n endfacet\n facet normal -0.210718 -0.977547 0.000351125\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.14166 39.6756 14.3782\n vertex 1.12584 39.679 14.35\n endloop\n endfacet\n facet normal -0.22932 -0.973351 7.44112e-05\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.22161 39.6573 14.5554\n vertex 1.21014 39.66 14.5251\n endloop\n endfacet\n facet normal -0.227756 -0.973718 8.79578e-05\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.23231 39.6548 14.586\n vertex 1.22161 39.6573 14.5554\n endloop\n endfacet\n facet normal -0.22399 -0.974591 0.000127484\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.21014 39.66 14.5251\n vertex 1.19794 39.6628 14.4951\n endloop\n endfacet\n facet normal -0.244046 -0.969764 -3.36328e-05\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.24224 39.6523 14.6168\n vertex 1.23231 39.6548 14.586\n endloop\n endfacet\n facet normal -0.233401 -0.97238 3.39082e-05\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.25141 39.6501 14.6479\n vertex 1.24224 39.6523 14.6168\n endloop\n endfacet\n facet normal -0.242222 -0.970221 -3.40449e-06\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.26741 39.6462 14.7107\n vertex 1.2598 39.6481 14.6792\n endloop\n endfacet\n facet normal -0.242186 -0.97023 -3.27617e-06\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.27422 39.6445 14.7424\n vertex 1.26741 39.6462 14.7107\n endloop\n endfacet\n facet normal -0.232027 -0.972709 4.12013e-05\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.2598 39.6481 14.6792\n vertex 1.25141 39.6501 14.6479\n endloop\n endfacet\n facet normal -0.241394 -0.970427 -1.07897e-06\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.28025 39.643 14.7743\n vertex 1.27422 39.6445 14.7424\n endloop\n endfacet\n facet normal -0.241651 -0.970363 -1.62137e-06\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.28547 39.6417 14.8062\n vertex 1.28025 39.643 14.7743\n endloop\n endfacet\n facet normal -0.240479 -0.970654 1.77085e-07\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.28991 39.6406 14.8384\n vertex 1.28547 39.6417 14.8062\n endloop\n endfacet\n facet normal -0.240117 -0.970744 3.46231e-07\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.29637 39.639 14.9029\n vertex 1.29354 39.6397 14.8706\n endloop\n endfacet\n facet normal -0.240278 -0.970704 2.90595e-07\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.29839 39.6385 14.9352\n vertex 1.29637 39.639 14.9029\n endloop\n endfacet\n facet normal -0.240648 -0.970613 -2.34181e-16\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.29354 39.6397 14.8706\n vertex 1.28991 39.6406 14.8384\n endloop\n endfacet\n facet normal -0.236956 -0.97152 0\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.3 39.6381 15\n vertex 1.29959 39.6382 14.9676\n endloop\n endfacet\n facet normal -0.236956 -0.97152 -0\n outer loop\n vertex 1.3 39.6381 15\n vertex 1.29959 39.6382 5.03241\n vertex 1.3 39.6381 5.00002\n endloop\n endfacet\n facet normal -0.242536 -0.970143 0\n outer loop\n vertex 1.29959 39.6382 5.03241\n vertex 1.29959 39.6382 14.9676\n vertex 1.29839 39.6385 14.9352\n endloop\n endfacet\n facet normal -0.223499 -0.974704 0.000128675\n outer loop\n vertex 1.29959 39.6382 15.0324\n vertex 1.2318 39.6544 20\n vertex 1.22395 39.6562 20\n endloop\n endfacet\n facet normal -0.210517 -0.97759 0.00031524\n outer loop\n vertex 1.29959 39.6382 15.0324\n vertex 1.23923 39.6528 20\n vertex 1.2318 39.6544 20\n endloop\n endfacet\n facet normal -0.223144 -0.974786 0.000134381\n outer loop\n vertex 1.29959 39.6382 15.0324\n vertex 1.22395 39.6562 20\n vertex 1.21565 39.6581 20\n endloop\n endfacet\n facet normal -0.235997 -0.971754 -1.15135e-05\n outer loop\n vertex 1.29959 39.6382 15.0324\n vertex 1.24623 39.6511 20\n vertex 1.23923 39.6528 20\n endloop\n endfacet\n facet normal -0.213596 -0.976922 0.000304267\n outer loop\n vertex 1.29959 39.6382 15.0324\n vertex 1.21565 39.6581 20\n vertex 1.20696 39.66 20\n endloop\n endfacet\n facet normal -0.237686 -0.971342 -1.06221e-05\n outer loop\n vertex 1.29959 39.6382 15.0324\n vertex 1.25891 39.6481 20\n vertex 1.25278 39.6496 20\n endloop\n endfacet\n facet normal -0.22236 -0.974965 0.000122097\n outer loop\n vertex 1.29959 39.6382 15.0324\n vertex 1.26461 39.6468 20\n vertex 1.25891 39.6481 20\n endloop\n endfacet\n facet normal -0.223229 -0.974766 0.000133463\n outer loop\n vertex 1.29959 39.6382 15.0324\n vertex 1.25278 39.6496 20\n vertex 1.24623 39.6511 20\n endloop\n endfacet\n facet normal -0.239929 -0.97079 -8.8424e-06\n outer loop\n vertex 1.29959 39.6382 15.0324\n vertex 1.26987 39.6455 20\n vertex 1.26461 39.6468 20\n endloop\n endfacet\n facet normal -0.222057 -0.975034 0.000104316\n 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4.46533\n vertex -1.1979 39.6628 4.49498\n vertex -1.30781 39.6361 0\n endloop\n endfacet\n facet normal 0.223742 -0.974648 0.000318507\n outer loop\n vertex -1.1979 39.6628 4.49498\n vertex -1.21014 39.66 4.52506\n vertex -1.30781 39.6361 0\n endloop\n endfacet\n facet normal 0.229597 -0.973286 0.000184916\n outer loop\n vertex -1.21014 39.66 4.52506\n vertex -1.22161 39.6573 4.5554\n vertex -1.30781 39.6361 0\n endloop\n endfacet\n facet normal 0.228291 -0.973593 0.000211059\n outer loop\n vertex -1.22161 39.6573 4.5554\n vertex -1.2323 39.6548 4.58597\n vertex -1.30781 39.6361 0\n endloop\n endfacet\n facet normal 0.243303 -0.96995 -5.09737e-05\n outer loop\n vertex -1.2323 39.6548 4.58597\n vertex -1.24226 39.6523 4.61686\n vertex -1.30781 39.6361 0\n endloop\n endfacet\n facet normal 0.234058 -0.972223 8.82649e-05\n outer loop\n vertex -1.24226 39.6523 4.61686\n vertex -1.25141 39.6501 4.64791\n vertex -1.30781 39.6361 0\n endloop\n endfacet\n facet normal 0.232275 -0.97265 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39.66 20\n vertex -1.29959 39.6382 15.0324\n endloop\n endfacet\n facet normal 0.213128 -0.977024 0.000313016\n outer loop\n vertex -1.20695 39.66 20\n vertex -1.21566 39.6581 20\n vertex -1.29959 39.6382 15.0324\n endloop\n endfacet\n facet normal 0.208947 -0.977927 0.000385598\n outer loop\n vertex -1.09203 39.6862 14.2947\n vertex -1.12583 39.679 14.35\n vertex -1.29959 39.6382 5.03241\n endloop\n endfacet\n facet normal 0.210351 -0.977626 0.000358093\n outer loop\n vertex -1.12583 39.679 14.35\n vertex -1.14168 39.6756 14.3783\n vertex -1.29959 39.6382 5.03241\n endloop\n endfacet\n facet normal 0.203794 -0.979014 0\n outer loop\n vertex -1.09203 39.6862 14.2947\n vertex -1.05552 39.6938 5.75887\n vertex -1.05552 39.6938 14.2411\n endloop\n endfacet\n facet normal 0.203794 -0.979014 0\n outer loop\n vertex -1.05552 39.6938 5.75887\n vertex -1.09203 39.6862 14.2947\n vertex -1.09203 39.6862 5.70531\n endloop\n endfacet\n facet normal 0.206959 -0.97835 0\n outer loop\n vertex 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outer loop\n vertex 4.30327 31.4062 20\n vertex 7 28.5 20\n vertex 4.45214 31.6245 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 4.14371 31.1955 20\n vertex 7 28.5 20\n vertex 4.30327 31.4062 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 3.97384 30.9931 20\n vertex 7 28.5 20\n vertex 4.14371 31.1955 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 3.79409 30.7993 20\n vertex 7 28.5 20\n vertex 3.97384 30.9931 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 3.60492 30.6148 20\n vertex 7 28.5 20\n vertex 3.79409 30.7993 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 3.40677 30.44 20\n vertex 7 28.5 20\n vertex 3.60492 30.6148 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 3.20016 30.2752 20\n vertex 7 28.5 20\n vertex 3.40677 30.44 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 2.9856 30.1209 20\n vertex 7 28.5 20\n vertex 3.20016 30.2752 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 2.76361 29.9776 20\n vertex 7 28.5 20\n vertex 2.9856 30.1209 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 7 28.5 20\n vertex 2.76361 29.9776 20\n vertex 3 24.5 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 2.53475 29.8454 20\n vertex 3 24.5 20\n vertex 2.76361 29.9776 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 2.29958 29.7249 20\n vertex 3 24.5 20\n vertex 2.53475 29.8454 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 2.0587 29.6162 20\n vertex 3 24.5 20\n vertex 2.29958 29.7249 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 1.81271 29.5196 20\n vertex 3 24.5 20\n vertex 2.0587 29.6162 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 1.5622 29.4355 20\n vertex 3 24.5 20\n vertex 1.81271 29.5196 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 1.30782 29.3639 20\n vertex 3 24.5 20\n vertex 1.5622 29.4355 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 1.05017 29.3051 20\n vertex 3 24.5 20\n vertex 1.30782 29.3639 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 0.789925 29.2592 20\n vertex 3 24.5 20\n vertex 1.05017 29.3051 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 0.52771 29.2263 20\n vertex 3 24.5 20\n vertex 0.789925 29.2592 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 0.264183 29.2066 20\n vertex 3 24.5 20\n vertex 0.52771 29.2263 20\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 0 29.2 20\n vertex 3 24.5 20\n vertex 0.264183 29.2066 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 20\n vertex 0 29.2 20\n vertex -0.264183 29.2066 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 20\n vertex -0.264183 29.2066 20\n vertex -0.52771 29.2263 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 20\n vertex -0.52771 29.2263 20\n vertex -0.789921 29.2592 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 20\n vertex -0.789921 29.2592 20\n vertex -1.05017 29.3051 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 20\n vertex -1.05017 29.3051 20\n vertex -1.30781 29.3639 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 20\n vertex -1.30781 29.3639 20\n vertex -1.5622 29.4355 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 20\n vertex -1.5622 29.4355 20\n vertex -1.81271 29.5196 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 20\n vertex -1.81271 29.5196 20\n vertex -2.0587 29.6162 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 20\n vertex -2.0587 29.6162 20\n vertex -2.29958 29.7249 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 20\n vertex -2.29958 29.7249 20\n vertex -2.53474 29.8454 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 20\n vertex -2.53474 29.8454 20\n vertex -2.76361 29.9776 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -2.76361 29.9776 20\n vertex -2.9856 30.1209 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 29.2 20\n vertex -3 24.5 20\n vertex 3 24.5 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -2.9856 30.1209 20\n vertex -3.20016 30.2752 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -3.20016 30.2752 20\n vertex -3.40677 30.44 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -3.40677 30.44 20\n vertex -3.60492 30.6148 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -3.60492 30.6148 20\n vertex -3.79409 30.7993 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -3.79409 30.7993 20\n vertex -3.97384 30.9931 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -3.97384 30.9931 20\n vertex -4.14371 31.1955 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -4.14371 31.1955 20\n vertex -4.30327 31.4062 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -4.30327 31.4062 20\n vertex -4.45214 31.6245 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -4.45214 31.6245 20\n vertex -4.58994 31.85 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -4.58994 31.85 20\n vertex -4.71632 32.0821 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -4.71632 32.0821 20\n vertex -4.83098 32.3202 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -4.83098 32.3202 20\n vertex -4.93363 32.5637 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -4.93363 32.5637 20\n vertex -5.02402 32.812 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -5.02402 32.812 20\n vertex -5.10191 33.0645 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -5.10191 33.0645 20\n vertex -5.16712 33.3206 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 38.5 20\n vertex -5.28518 34.1039 20\n vertex -5.29835 34.3679 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7 28.5 20\n vertex -5.28518 34.1039 20\n vertex -7 38.5 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -5.28518 34.1039 20\n vertex -7 28.5 20\n vertex -5.25887 33.841 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -5.25887 33.841 20\n vertex -7 28.5 20\n vertex -5.21948 33.5797 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -5.21948 33.5797 20\n vertex -7 28.5 20\n vertex -5.16712 33.3206 20\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -2.76361 29.9776 20\n vertex -7 28.5 20\n vertex -3 24.5 20\n endloop\n endfacet\n facet normal -0.447481 0.550653 0.704658\n outer loop\n vertex 5.77757 0.458803 5.5\n vertex 6.20008 0.80215 5.5\n vertex 5.60549 0.958803 5\n endloop\n endfacet\n facet normal -0.454736 0.538416 0.709452\n outer loop\n vertex 6.20008 0.80215 5.5\n vertex 6.00398 1.29536 5\n vertex 5.60549 0.958803 5\n endloop\n endfacet\n facet normal -0.478324 0.524137 0.704618\n outer loop\n vertex 6.20008 0.80215 5.5\n vertex 6.60222 1.16914 5.5\n vertex 6.00398 1.29536 5\n endloop\n endfacet\n facet normal -0.507588 0.495909 0.704577\n outer loop\n vertex 6.60222 1.16914 5.5\n vertex 6.98268 1.55856 5.5\n vertex 6.38231 1.65444 5\n endloop\n endfacet\n facet normal -0.535193 0.46604 0.704539\n outer loop\n vertex 6.98268 1.55856 5.5\n vertex 7.3402 1.96913 5.5\n vertex 6.7392 2.03483 5\n endloop\n endfacet\n facet normal -0.561033 0.434639 0.704507\n outer loop\n vertex 7.3402 1.96913 5.5\n vertex 7.67362 2.39951 5.5\n vertex 7.07345 2.43526 5\n endloop\n endfacet\n facet normal -0.58503 0.401805 0.704481\n outer loop\n vertex 7.67362 2.39951 5.5\n vertex 7.98184 2.84828 5.5\n vertex 7.38394 2.85438 5\n endloop\n endfacet\n facet normal -0.60711 0.367642 0.704455\n outer loop\n vertex 7.98184 2.84828 5.5\n vertex 8.26385 3.31398 5.5\n vertex 7.66963 3.29078 5\n endloop\n endfacet\n facet normal -0.627194 0.332266 0.704434\n outer loop\n vertex 8.26385 3.31398 5.5\n vertex 8.51871 3.79506 5.5\n vertex 7.92956 3.74301 5\n endloop\n endfacet\n facet normal -0.645217 0.29581 0.704409\n outer loop\n vertex 8.51871 3.79506 5.5\n vertex 8.7456 4.28995 5.5\n vertex 8.16286 4.20953 5\n endloop\n endfacet\n facet normal -0.66112 0.25837 0.70439\n outer loop\n vertex 8.7456 4.28995 5.5\n vertex 8.94377 4.79703 5.5\n vertex 8.36874 4.68878 5\n endloop\n endfacet\n facet normal -0.674852 0.220074 0.704373\n outer loop\n vertex 8.94377 4.79703 5.5\n vertex 9.11256 5.31462 5.5\n vertex 8.54651 5.17915 5\n endloop\n endfacet\n facet normal -0.68636 0.181062 0.704362\n outer loop\n vertex 9.11256 5.31462 5.5\n vertex 9.25143 5.84104 5.5\n vertex 8.69557 5.679 5\n endloop\n endfacet\n facet normal -0.69562 0.141445 0.704348\n outer loop\n vertex 9.25143 5.84104 5.5\n vertex 9.35991 6.37454 5.5\n vertex 8.81543 6.18664 5\n endloop\n endfacet\n facet normal -0.702588 0.101362 0.704341\n outer loop\n vertex 9.35991 6.37454 5.5\n vertex 9.43765 6.91339 5.5\n vertex 8.90567 6.70037 5\n endloop\n endfacet\n facet normal -0.707244 0.0609569 0.704337\n outer loop\n vertex 9.43765 6.91339 5.5\n vertex 9.4844 7.4558 5.5\n vertex 8.966 7.21847 5\n endloop\n endfacet\n facet normal -0.709578 0.0203407 0.704333\n outer loop\n vertex 9.4844 7.4558 5.5\n vertex 9.5 8 5.5\n vertex 8.99622 7.7392 5\n endloop\n endfacet\n facet normal -0.709578 -0.0203407 0.704333\n outer loop\n vertex 9.5 8 5.5\n vertex 9.4844 8.5442 5.5\n vertex 8.99622 8.2608 5\n endloop\n endfacet\n facet normal -0.707244 -0.0609569 0.704337\n outer loop\n vertex 9.4844 8.5442 5.5\n vertex 9.43765 9.08661 5.5\n vertex 8.966 8.78153 5\n endloop\n endfacet\n facet normal -0.702587 -0.101362 0.704342\n outer loop\n vertex 9.43765 9.08661 5.5\n vertex 9.35991 9.62546 5.5\n vertex 8.90567 9.29962 5\n endloop\n endfacet\n facet normal -0.695619 -0.141434 0.704351\n outer loop\n vertex 9.35991 9.62546 5.5\n vertex 9.25143 10.159 5.5\n vertex 8.81543 9.81336 5\n endloop\n endfacet\n facet normal -0.686354 -0.181068 0.704367\n outer loop\n vertex 9.25143 10.159 5.5\n vertex 9.11256 10.6854 5.5\n vertex 8.69557 10.321 5\n endloop\n endfacet\n facet normal -0.674859 -0.220072 0.704368\n outer loop\n vertex 9.11256 10.6854 5.5\n vertex 8.94377 11.203 5.5\n vertex 8.54651 10.8209 5\n endloop\n endfacet\n facet normal -0.661105 -0.258405 0.704392\n outer loop\n vertex 8.94377 11.203 5.5\n vertex 8.7456 11.71 5.5\n vertex 8.36874 11.3112 5\n endloop\n endfacet\n facet normal -0.645239 -0.295814 0.704387\n outer loop\n vertex 8.7456 11.71 5.5\n vertex 8.51871 12.2049 5.5\n vertex 8.16286 11.7905 5\n endloop\n endfacet\n facet normal -0.627211 -0.332261 0.704421\n outer loop\n vertex 8.51871 12.2049 5.5\n vertex 8.26385 12.686 5.5\n vertex 7.92956 12.257 5\n endloop\n endfacet\n facet normal -0.60711 -0.367642 0.704455\n outer loop\n vertex 8.26385 12.686 5.5\n vertex 7.98184 13.1517 5.5\n vertex 7.66963 12.7092 5\n endloop\n endfacet\n facet normal -0.585036 -0.401782 0.704488\n outer loop\n vertex 7.98184 13.1517 5.5\n vertex 7.67362 13.6005 5.5\n vertex 7.38394 13.1456 5\n endloop\n endfacet\n facet normal -0.561022 -0.434609 0.704535\n outer loop\n vertex 7.67362 13.6005 5.5\n vertex 7.3402 14.0309 5.5\n vertex 7.07345 13.5647 5\n endloop\n endfacet\n facet normal -0.535169 -0.466099 0.704518\n outer loop\n vertex 7.3402 14.0309 5.5\n vertex 6.98268 14.4414 5.5\n vertex 6.7392 13.9652 5\n endloop\n endfacet\n facet normal -0.507649 -0.495867 0.704563\n outer loop\n vertex 6.98268 14.4414 5.5\n vertex 6.60222 14.8309 5.5\n vertex 6.38231 14.3456 5\n endloop\n endfacet\n facet normal -0.478252 -0.524187 0.704629\n outer loop\n vertex 6.60222 14.8309 5.5\n vertex 6.20008 15.1978 5.5\n vertex 6.00398 14.7046 5\n endloop\n endfacet\n facet normal -0.447528 -0.550627 0.704648\n outer loop\n vertex 6.20008 15.1978 5.5\n vertex 5.77757 15.5412 5.5\n vertex 5.60549 15.0412 5\n endloop\n endfacet\n facet normal -0.454778 -0.538398 0.70944\n outer loop\n vertex 6.00398 14.7046 5\n vertex 6.20008 15.1978 5.5\n vertex 5.60549 15.0412 5\n endloop\n endfacet\n facet normal -0.485136 0.511144 0.709489\n outer loop\n vertex 6.60222 1.16914 5.5\n vertex 6.38231 1.65444 5\n vertex 6.00398 1.29536 5\n endloop\n endfacet\n facet normal -0.513905 0.482157 0.709525\n outer loop\n vertex 6.98268 1.55856 5.5\n vertex 6.7392 2.03483 5\n vertex 6.38231 1.65444 5\n endloop\n endfacet\n facet normal -0.540953 0.451548 0.709559\n outer loop\n vertex 7.3402 1.96913 5.5\n vertex 7.07345 2.43526 5\n vertex 6.7392 2.03483 5\n endloop\n endfacet\n facet normal -0.566176 0.419431 0.709593\n outer loop\n vertex 7.67362 2.39951 5.5\n vertex 7.38394 2.85438 5\n vertex 7.07345 2.43526 5\n endloop\n endfacet\n facet normal -0.589494 0.385913 0.709625\n outer loop\n vertex 7.98184 2.84828 5.5\n vertex 7.66963 3.29078 5\n vertex 7.38394 2.85438 5\n endloop\n endfacet\n facet normal -0.610839 0.351094 0.709654\n outer loop\n vertex 8.26385 3.31398 5.5\n vertex 7.92956 3.74301 5\n vertex 7.66963 3.29078 5\n endloop\n endfacet\n facet normal -0.630128 0.315118 0.709676\n outer loop\n vertex 8.51871 3.79506 5.5\n vertex 8.16286 4.20953 5\n vertex 7.92956 3.74301 5\n endloop\n endfacet\n facet normal -0.647306 0.278075 0.709697\n outer loop\n vertex 8.7456 4.28995 5.5\n vertex 8.36874 4.68878 5\n vertex 8.16286 4.20953 5\n endloop\n endfacet\n facet normal -0.662311 0.240102 0.709715\n outer loop\n vertex 8.94377 4.79703 5.5\n vertex 8.54651 5.17915 5\n vertex 8.36874 4.68878 5\n endloop\n endfacet\n facet normal -0.675095 0.20132 0.70973\n outer loop\n vertex 9.11256 5.31462 5.5\n vertex 8.69557 5.679 5\n vertex 8.54651 5.17915 5\n endloop\n endfacet\n facet normal -0.685609 0.161881 0.709743\n outer loop\n vertex 9.25143 5.84104 5.5\n vertex 8.81543 6.18664 5\n vertex 8.69557 5.679 5\n endloop\n endfacet\n facet normal -0.693829 0.121876 0.709752\n outer loop\n vertex 9.35991 6.37454 5.5\n vertex 8.90567 6.70037 5\n vertex 8.81543 6.18664 5\n endloop\n endfacet\n facet normal -0.699717 0.0814784 0.709758\n outer loop\n vertex 9.43765 6.91339 5.5\n vertex 8.966 7.21847 5\n vertex 8.90567 6.70037 5\n endloop\n endfacet\n facet normal -0.703256 0.0408127 0.709764\n outer loop\n vertex 9.4844 7.4558 5.5\n vertex 8.99622 7.7392 5\n vertex 8.966 7.21847 5\n endloop\n endfacet\n facet normal -0.704439 0 0.709765\n outer loop\n vertex 9.5 8 5.5\n vertex 8.99622 8.2608 5\n vertex 8.99622 7.7392 5\n endloop\n endfacet\n facet normal -0.703256 -0.0408127 0.709764\n outer loop\n vertex 8.99622 8.2608 5\n vertex 9.4844 8.5442 5.5\n vertex 8.966 8.78153 5\n endloop\n endfacet\n facet normal -0.699717 -0.0814799 0.709759\n outer loop\n vertex 8.966 8.78153 5\n vertex 9.43765 9.08661 5.5\n vertex 8.90567 9.29962 5\n endloop\n endfacet\n facet normal -0.693829 -0.121873 0.709752\n outer loop\n vertex 8.90567 9.29962 5\n vertex 9.35991 9.62546 5.5\n vertex 8.81543 9.81336 5\n endloop\n endfacet\n facet normal -0.685603 -0.161879 0.709749\n outer loop\n vertex 8.81543 9.81336 5\n vertex 9.25143 10.159 5.5\n vertex 8.69557 10.321 5\n endloop\n endfacet\n facet normal -0.675101 -0.201301 0.709729\n outer loop\n vertex 8.69557 10.321 5\n vertex 9.11256 10.6854 5.5\n vertex 8.54651 10.8209 5\n endloop\n endfacet\n facet normal -0.662298 -0.240132 0.709717\n outer loop\n vertex 8.54651 10.8209 5\n vertex 8.94377 11.203 5.5\n vertex 8.36874 11.3112 5\n endloop\n endfacet\n facet normal -0.64733 -0.278056 0.709683\n outer loop\n vertex 8.36874 11.3112 5\n vertex 8.7456 11.71 5.5\n vertex 8.16286 11.7905 5\n endloop\n endfacet\n facet normal -0.63014 -0.315137 0.709656\n outer loop\n vertex 8.16286 11.7905 5\n vertex 8.51871 12.2049 5.5\n vertex 7.92956 12.257 5\n endloop\n endfacet\n facet normal -0.610834 -0.351115 0.709648\n outer loop\n vertex 7.92956 12.257 5\n vertex 8.26385 12.686 5.5\n vertex 7.66963 12.7092 5\n endloop\n endfacet\n facet normal -0.589494 -0.385913 0.709625\n outer loop\n vertex 7.66963 12.7092 5\n vertex 7.98184 13.1517 5.5\n vertex 7.38394 13.1456 5\n endloop\n endfacet\n facet normal -0.566154 -0.419435 0.709609\n outer loop\n vertex 7.38394 13.1456 5\n vertex 7.67362 13.6005 5.5\n vertex 7.07345 13.5647 5\n endloop\n endfacet\n facet normal -0.540976 -0.451489 0.709579\n outer loop\n vertex 7.07345 13.5647 5\n vertex 7.3402 14.0309 5.5\n vertex 6.7392 13.9652 5\n endloop\n endfacet\n facet normal -0.513938 -0.482174 0.70949\n outer loop\n vertex 6.7392 13.9652 5\n vertex 6.98268 14.4414 5.5\n vertex 6.38231 14.3456 5\n endloop\n endfacet\n facet normal -0.48507 -0.511188 0.709503\n outer loop\n vertex 6.38231 14.3456 5\n vertex 6.60222 14.8309 5.5\n vertex 6.00398 14.7046 5\n endloop\n endfacet\n facet normal -0.999568 0.0293518 0.00129219\n outer loop\n vertex 8.99622 7.7392 5\n vertex 9 8 2\n vertex 8.98449 7.47181 2\n endloop\n endfacet\n facet normal -0.998319 0.0579364 -0.00126044\n outer loop\n vertex 8.99622 7.7392 5\n vertex 8.98449 7.47181 2\n vertex 8.966 7.21847 5\n endloop\n endfacet\n facet normal -0.996121 0.0879793 0.00129013\n outer loop\n vertex 8.966 7.21847 5\n vertex 8.98449 7.47181 2\n vertex 8.938 6.94544 2\n endloop\n endfacet\n facet normal -0.993288 0.115663 -0.00125581\n outer loop\n vertex 8.966 7.21847 5\n vertex 8.938 6.94544 2\n vertex 8.90567 6.70037 5\n endloop\n endfacet\n facet normal -0.989244 0.146268 0.00128788\n outer loop\n vertex 8.90567 6.70037 5\n vertex 8.938 6.94544 2\n vertex 8.86071 6.42271 2\n endloop\n endfacet\n facet normal -0.978953 0.204083 0.00128366\n outer loop\n vertex 8.81543 6.18664 5\n vertex 8.86071 6.42271 2\n vertex 8.75287 5.90542 2\n endloop\n endfacet\n facet normal -0.965291 0.261174 0.00127464\n outer loop\n vertex 8.69557 5.679 5\n vertex 8.75287 5.90542 2\n vertex 8.61486 5.39534 2\n endloop\n endfacet\n facet normal -0.948296 0.317385 0.00126652\n outer loop\n vertex 8.54651 5.17915 5\n vertex 8.61486 5.39534 2\n vertex 8.44715 4.89425 2\n endloop\n endfacet\n facet normal -0.928035 0.37249 0.00125607\n outer loop\n vertex 8.36874 4.68878 5\n vertex 8.44715 4.89425 2\n vertex 8.25032 4.40386 2\n endloop\n endfacet\n facet normal -0.904578 0.426306 0.00124322\n outer loop\n vertex 8.16286 4.20953 5\n vertex 8.25032 4.40386 2\n vertex 8.02505 3.92586 2\n endloop\n endfacet\n facet normal -0.877993 0.478671 0.0012285\n outer loop\n vertex 7.92956 3.74301 5\n vertex 8.02505 3.92586 2\n vertex 7.77211 3.46191 2\n endloop\n endfacet\n facet normal -0.848395 0.529362 0.00121541\n outer loop\n vertex 7.66963 3.29078 5\n vertex 7.77211 3.46191 2\n vertex 7.49239 3.01361 2\n endloop\n endfacet\n facet normal -0.815869 0.578235 0.00119713\n outer loop\n vertex 7.38394 2.85438 5\n vertex 7.49239 3.01361 2\n vertex 7.18684 2.58249 2\n endloop\n endfacet\n facet normal -0.780519 0.625131 0.00117831\n outer loop\n vertex 7.07345 2.43526 5\n vertex 7.18684 2.58249 2\n vertex 6.85651 2.17005 2\n endloop\n endfacet\n facet normal -0.74248 0.669867 0.0011597\n outer loop\n vertex 6.7392 2.03483 5\n vertex 6.85651 2.17005 2\n vertex 6.50254 1.77771 2\n endloop\n endfacet\n facet normal -0.701912 0.712263 0.00113662\n outer loop\n vertex 6.38231 1.65444 5\n vertex 6.50254 1.77771 2\n vertex 6.12617 1.40681 2\n endloop\n endfacet\n facet normal -0.658877 0.75225 0.00111005\n outer loop\n vertex 6.00398 1.29536 5\n vertex 6.12617 1.40681 2\n vertex 5.72867 1.05865 2\n endloop\n endfacet\n facet normal -0.613601 0.789616 0.0010858\n outer loop\n vertex 5.60549 0.958803 5\n vertex 5.72867 1.05865 2\n vertex 5.31142 0.73441 2\n endloop\n endfacet\n facet normal -0.566209 0.824261 0.000462976\n outer loop\n vertex 5.26482 0.700569 5.25823\n vertex 5.31142 0.73441 2\n vertex 4.87587 0.435218 2\n endloop\n endfacet\n facet normal -0.52139 0.853319 -0.000327695\n outer loop\n vertex 4.91227 0.458803 5.5\n vertex 4.87587 0.435218 2\n vertex 4.46893 0.187916 5.5\n endloop\n endfacet\n facet normal -0.565406 0.824813 0.00032216\n outer loop\n vertex 4.91227 0.458803 5.5\n vertex 5.26482 0.700569 5.25823\n vertex 4.87587 0.435218 2\n endloop\n endfacet\n facet normal -0.98492 0.173008 -0.00125176\n outer loop\n vertex 8.90567 6.70037 5\n vertex 8.86071 6.42271 2\n vertex 8.81543 6.18664 5\n endloop\n endfacet\n facet normal -0.973239 0.229794 -0.00124557\n outer loop\n vertex 8.81543 6.18664 5\n vertex 8.75287 5.90542 2\n vertex 8.69557 5.679 5\n endloop\n endfacet\n facet normal -0.958297 0.285773 -0.00123943\n outer loop\n vertex 8.69557 5.679 5\n vertex 8.61486 5.39534 2\n vertex 8.54651 5.17915 5\n endloop\n endfacet\n facet normal -0.940129 0.340817 -0.00122924\n outer loop\n vertex 8.54651 5.17915 5\n vertex 8.44715 4.89425 2\n vertex 8.36874 4.68878 5\n endloop\n endfacet\n facet normal -0.918806 0.394708 -0.00121839\n outer loop\n vertex 8.36874 4.68878 5\n vertex 8.25032 4.40386 2\n vertex 8.16286 4.20953 5\n endloop\n endfacet\n facet normal -0.894396 0.447275 -0.00120723\n outer loop\n vertex 8.16286 4.20953 5\n vertex 8.02505 3.92586 2\n vertex 7.92956 3.74301 5\n endloop\n endfacet\n facet normal -0.86699 0.498323 -0.00119036\n outer loop\n vertex 7.92956 3.74301 5\n vertex 7.77211 3.46191 2\n vertex 7.66963 3.29078 5\n endloop\n endfacet\n facet normal -0.83666 0.547721 -0.00117406\n outer loop\n vertex 7.66963 3.29078 5\n vertex 7.49239 3.01361 2\n vertex 7.38394 2.85438 5\n endloop\n endfacet\n facet normal -0.803528 0.595265 -0.00115707\n outer loop\n vertex 7.38394 2.85438 5\n vertex 7.18684 2.58249 2\n vertex 7.07345 2.43526 5\n endloop\n endfacet\n facet normal -0.767694 0.640815 -0.00113571\n outer loop\n vertex 7.07345 2.43526 5\n vertex 6.85651 2.17005 2\n vertex 6.7392 2.03483 5\n endloop\n endfacet\n facet normal -0.729274 0.684221 -0.00111226\n outer loop\n vertex 6.7392 2.03483 5\n vertex 6.50254 1.77771 2\n vertex 6.38231 1.65444 5\n endloop\n endfacet\n facet normal -0.688413 0.725318 -0.00109349\n outer loop\n vertex 6.38231 1.65444 5\n vertex 6.12617 1.40681 2\n vertex 6.00398 1.29536 5\n endloop\n endfacet\n facet normal -0.645241 0.763978 -0.00106663\n outer loop\n vertex 6.00398 1.29536 5\n vertex 5.72867 1.05865 2\n vertex 5.60549 0.958803 5\n endloop\n endfacet\n facet normal -0.604258 0.796789 -0.000366548\n outer loop\n vertex 5.60549 0.958803 5\n vertex 5.31142 0.73441 2\n vertex 5.26482 0.700569 5.25823\n endloop\n endfacet\n facet normal -0.516848 0.856077 0.000395244\n outer loop\n vertex 4.46893 0.187916 5.5\n vertex 4.87587 0.435218 2\n vertex 4.4235 0.162104 2\n endloop\n endfacet\n facet normal -0.471285 0.881981 -0.00038721\n outer loop\n vertex 4.46893 0.187916 5.5\n vertex 4.4235 0.162104 2\n vertex 4.0107 -0.0569382 5.5\n endloop\n endfacet\n facet normal -0.465724 0.88493 0.000453251\n outer loop\n vertex 4.0107 -0.0569382 5.5\n vertex 4.4235 0.162104 2\n vertex 3.95589 -0.0839911 2\n endloop\n endfacet\n facet normal -0.412984 0.910738 0.00050991\n outer loop\n vertex 3.53911 -0.274944 5.5\n vertex 3.95589 -0.0839911 2\n vertex 3.47464 -0.302219 2\n endloop\n endfacet\n facet normal -0.358829 0.933403 0.000562499\n outer loop\n vertex 3.05572 -0.465374 5.5\n vertex 3.47464 -0.302219 2\n vertex 2.98142 -0.491828 2\n endloop\n endfacet\n facet normal -0.303424 0.952855 0.000613938\n outer loop\n vertex 2.56215 -0.627594 5.5\n vertex 2.98142 -0.491828 2\n vertex 2.47791 -0.652164 2\n endloop\n endfacet\n facet normal -0.246986 0.969019 0.000662055\n outer loop\n vertex 2.06004 -0.761063 5.5\n vertex 2.47791 -0.652164 2\n vertex 1.96587 -0.782674 2\n endloop\n endfacet\n facet normal -0.189688 0.981844 0.000707842\n outer loop\n vertex 1.55107 -0.865335 5.5\n vertex 1.96587 -0.782674 2\n vertex 1.44705 -0.882908 2\n endloop\n endfacet\n facet normal -0.131738 0.991284 0.000751601\n outer loop\n vertex 1.03693 -0.940065 5.5\n vertex 1.44705 -0.882908 2\n vertex 0.923234 -0.952521 2\n endloop\n endfacet\n facet normal -0.073336 0.997307 0.000792477\n outer loop\n vertex 0.519328 -0.985003 5.5\n vertex 0.923234 -0.952521 2\n vertex 0.39624 -0.991273 2\n endloop\n endfacet\n facet normal -0.0146797 0.999892 0.000831244\n outer loop\n vertex 0 -1 5.5\n vertex 0.39624 -0.991273 2\n vertex -0.132118 -0.99903 2\n endloop\n endfacet\n facet normal 0.0440278 0.99903 0.000867028\n outer loop\n vertex -0.519328 -0.985003 5.5\n vertex -0.132118 -0.99903 2\n vertex -0.660022 -0.975765 2\n endloop\n endfacet\n facet normal 0.102582 0.994724 0.000900673\n outer loop\n vertex -1.03693 -0.940065 5.5\n vertex -0.660022 -0.975765 2\n vertex -1.18565 -0.921559 2\n endloop\n endfacet\n facet normal 0.160783 0.986989 0.000931637\n outer loop\n vertex -1.55107 -0.865335 5.5\n vertex -1.18565 -0.921559 2\n vertex -1.70719 -0.836599 2\n endloop\n endfacet\n facet normal 0.218429 0.975852 0.000960145\n outer loop\n vertex -2.06004 -0.761063 5.5\n vertex -1.70719 -0.836599 2\n vertex -2.22285 -0.721177 2\n endloop\n endfacet\n facet normal 0.275325 0.961351 0.000986151\n outer loop\n vertex -2.56215 -0.627594 5.5\n vertex -2.22285 -0.721177 2\n vertex -2.73084 -0.575692 2\n endloop\n endfacet\n facet normal 0.331269 0.943536 0.00100962\n outer loop\n vertex -3.05572 -0.465374 5.5\n vertex -2.73084 -0.575692 2\n vertex -3.22942 -0.400644 2\n endloop\n endfacet\n facet normal 0.386071 0.922469 0.00103082\n outer loop\n vertex -3.53911 -0.274944 5.5\n vertex -3.22942 -0.400644 2\n vertex -3.71687 -0.196637 2\n endloop\n endfacet\n facet normal 0.439545 0.89822 0.00104891\n outer loop\n vertex -4.0107 -0.0569382 5.5\n vertex -3.71687 -0.196637 2\n vertex -4.1915 0.0356236 2\n endloop\n endfacet\n facet normal 0.491498 0.870878 0.00106515\n outer loop\n vertex -4.46893 0.187916 5.5\n vertex -4.1915 0.0356236 2\n vertex -4.65169 0.295341 2\n endloop\n endfacet\n facet normal 0.541761 0.840532 0.00107918\n outer loop\n vertex -4.91227 0.458803 5.5\n vertex -4.65169 0.295341 2\n vertex -5.09584 0.581616 2\n endloop\n endfacet\n facet normal 0.590162 0.807284 0.0011346\n outer loop\n vertex -5.26482 0.700569 5.25823\n vertex -5.09584 0.581616 2\n vertex -5.52242 0.893466 2\n endloop\n endfacet\n facet normal 0.636513 0.771266 0.00082763\n outer loop\n vertex -5.60549 0.958803 5\n vertex -5.52242 0.893466 2\n vertex -5.92997 1.22981 2\n endloop\n endfacet\n facet normal 0.680685 0.732576 0.000785731\n outer loop\n vertex -6.00398 1.29536 5\n vertex -5.92997 1.22981 2\n vertex -6.31708 1.5895 2\n endloop\n endfacet\n facet normal 0.722501 0.69137 0.000743721\n outer loop\n vertex -6.38231 1.65444 5\n vertex -6.31708 1.5895 2\n vertex -6.68241 1.97128 2\n endloop\n endfacet\n facet normal 0.761841 0.647764 0.000699838\n outer loop\n vertex -6.7392 2.03483 5\n vertex -6.68241 1.97128 2\n vertex -7.0247 2.37385 2\n endloop\n endfacet\n facet normal 0.798535 0.601948 0.000654316\n outer loop\n vertex -7.07345 2.43526 5\n vertex -7.0247 2.37385 2\n vertex -7.34278 2.79581 2\n endloop\n endfacet\n facet normal 0.832492 0.554036 0.000605165\n outer loop\n vertex -7.38394 2.85438 5\n vertex -7.34278 2.79581 2\n vertex -7.63554 3.23571 2\n endloop\n endfacet\n facet normal 0.863562 0.504243 0.000556725\n outer loop\n vertex -7.66963 3.29078 5\n vertex -7.63554 3.23571 2\n vertex -7.90199 3.69203 2\n endloop\n endfacet\n facet normal 0.891678 0.452671 0.000502137\n outer loop\n vertex -7.92956 3.74301 5\n vertex -7.90199 3.69203 2\n vertex -8.14119 4.16321 2\n endloop\n endfacet\n facet normal 0.916699 0.399578 0.00045213\n outer loop\n vertex -8.16286 4.20953 5\n vertex -8.14119 4.16321 2\n vertex -8.35233 4.6476 2\n endloop\n endfacet\n facet normal 0.938571 0.345085 0.000397115\n outer loop\n vertex -8.36874 4.68878 5\n vertex -8.35233 4.6476 2\n vertex -8.53468 5.14356 2\n endloop\n endfacet\n facet normal 0.957206 0.289408 0.000341237\n outer loop\n vertex -8.54651 5.17915 5\n vertex -8.53468 5.14356 2\n vertex -8.68761 5.64937 2\n endloop\n endfacet\n facet normal 0.97254 0.232736 0.000281818\n outer loop\n vertex -8.69557 5.679 5\n vertex -8.68761 5.64937 2\n vertex -8.81059 6.16327 2\n endloop\n endfacet\n facet normal 0.984526 0.17524 0.000223245\n outer loop\n vertex -8.81543 6.18664 5\n vertex -8.81059 6.16327 2\n vertex -8.90319 6.68351 2\n endloop\n endfacet\n facet normal 0.993111 0.117179 0.000162423\n outer loop\n vertex -8.90567 6.70037 5\n vertex -8.90319 6.68351 2\n vertex -8.96511 7.20829 2\n endloop\n endfacet\n facet normal 0.998277 0.0586854 9.70162e-05\n outer loop\n vertex -8.966 7.21847 5\n vertex -8.96511 7.20829 2\n vertex -8.99612 7.73579 2\n endloop\n endfacet\n facet normal 1 -0 3.33333e-05\n outer loop\n vertex -8.99622 7.7392 5\n vertex -8.99612 8.26421 2\n vertex -8.99622 8.2608 5\n endloop\n endfacet\n facet normal 1 0 3.33333e-05\n outer loop\n vertex -8.99612 8.26421 2\n vertex -8.99622 7.7392 5\n vertex -8.99612 7.73579 2\n endloop\n endfacet\n facet normal 0.99832 -0.0579364 -3.25771e-05\n outer loop\n vertex -8.99612 8.26421 2\n vertex -8.966 8.78153 5\n vertex -8.99622 8.2608 5\n endloop\n endfacet\n facet normal -0.419612 0.907704 -0.000444886\n outer loop\n vertex 4.0107 -0.0569382 5.5\n vertex 3.95589 -0.0839911 2\n vertex 3.53911 -0.274944 5.5\n endloop\n endfacet\n facet normal -0.366531 0.930406 -0.000499028\n outer loop\n vertex 3.53911 -0.274944 5.5\n vertex 3.47464 -0.302219 2\n vertex 3.05572 -0.465374 5.5\n endloop\n endfacet\n facet normal -0.312235 0.950005 -0.000552107\n outer loop\n vertex 3.05572 -0.465374 5.5\n vertex 2.98142 -0.491828 2\n vertex 2.56215 -0.627594 5.5\n endloop\n endfacet\n facet normal -0.256895 0.966439 -0.000601301\n outer loop\n vertex 2.56215 -0.627594 5.5\n vertex 2.47791 -0.652164 2\n vertex 2.06004 -0.761063 5.5\n endloop\n endfacet\n facet normal -0.2007 0.979653 -0.000648955\n outer loop\n vertex 2.06004 -0.761063 5.5\n vertex 1.96587 -0.782674 2\n vertex 1.55107 -0.865335 5.5\n endloop\n endfacet\n facet normal -0.143838 0.989601 -0.000693779\n outer loop\n vertex 1.55107 -0.865335 5.5\n vertex 1.44705 -0.882908 2\n vertex 1.03693 -0.940065 5.5\n endloop\n endfacet\n facet normal -0.0864942 0.996252 -0.000735791\n outer loop\n vertex 1.03693 -0.940065 5.5\n vertex 0.923234 -0.952521 2\n vertex 0.519328 -0.985003 5.5\n endloop\n endfacet\n facet normal -0.0288657 0.999583 -0.000775534\n outer loop\n vertex 0.519328 -0.985003 5.5\n vertex 0.39624 -0.991273 2\n vertex 0 -1 5.5\n endloop\n endfacet\n facet normal 0.0288657 0.999583 -0.000812594\n outer loop\n vertex 0 -1 5.5\n vertex -0.132118 -0.99903 2\n vertex -0.519328 -0.985003 5.5\n endloop\n endfacet\n facet normal 0.0864942 0.996252 -0.000847383\n outer loop\n vertex -0.519328 -0.985003 5.5\n vertex -0.660022 -0.975765 2\n vertex -1.03693 -0.940065 5.5\n endloop\n endfacet\n facet normal 0.143838 0.989601 -0.000879438\n outer loop\n vertex -1.03693 -0.940065 5.5\n vertex -1.18565 -0.921559 2\n vertex -1.55107 -0.865335 5.5\n endloop\n endfacet\n facet normal 0.2007 0.979652 -0.000909144\n outer loop\n vertex -1.55107 -0.865335 5.5\n vertex -1.70719 -0.836599 2\n vertex -2.06004 -0.761063 5.5\n endloop\n endfacet\n facet normal 0.256895 0.966439 -0.000936492\n outer loop\n vertex -2.06004 -0.761063 5.5\n vertex -2.22285 -0.721177 2\n vertex -2.56215 -0.627594 5.5\n endloop\n endfacet\n facet normal 0.312235 0.950004 -0.000961073\n outer loop\n vertex -2.56215 -0.627594 5.5\n vertex -2.73084 -0.575692 2\n vertex -3.05572 -0.465374 5.5\n endloop\n endfacet\n facet normal 0.36653 0.930406 -0.000983194\n outer loop\n vertex -3.05572 -0.465374 5.5\n vertex -3.22942 -0.400644 2\n vertex -3.53911 -0.274944 5.5\n endloop\n endfacet\n facet normal 0.419611 0.907703 -0.00100303\n outer loop\n vertex -3.53911 -0.274944 5.5\n vertex -3.71687 -0.196637 2\n vertex -4.0107 -0.0569382 5.5\n endloop\n endfacet\n facet normal 0.471284 0.881981 -0.00102015\n outer loop\n vertex -4.0107 -0.0569382 5.5\n vertex -4.1915 0.0356236 2\n vertex -4.46893 0.187916 5.5\n endloop\n endfacet\n facet normal 0.521389 0.853318 -0.00103469\n outer loop\n vertex -4.46893 0.187916 5.5\n vertex -4.65169 0.295341 2\n vertex -4.91227 0.458803 5.5\n endloop\n endfacet\n facet normal 0.565906 0.824469 -0.000750806\n outer loop\n vertex -4.91227 0.458803 5.5\n vertex -5.09584 0.581616 2\n vertex -5.26482 0.700569 5.25823\n endloop\n endfacet\n facet normal 0.604378 0.796697 -0.000616047\n outer loop\n vertex -5.26482 0.700569 5.25823\n vertex -5.52242 0.893466 2\n vertex -5.60549 0.958803 5\n endloop\n endfacet\n facet normal 0.645241 0.763978 -0.000774821\n outer loop\n vertex -5.60549 0.958803 5\n vertex -5.92997 1.22981 2\n vertex -6.00398 1.29536 5\n endloop\n endfacet\n facet normal 0.688413 0.725318 -0.00073233\n outer loop\n vertex -6.00398 1.29536 5\n vertex -6.31708 1.5895 2\n vertex -6.38231 1.65444 5\n endloop\n endfacet\n facet normal 0.729275 0.684221 -0.000688912\n outer loop\n vertex -6.38231 1.65444 5\n vertex -6.68241 1.97128 2\n vertex -6.7392 2.03483 5\n endloop\n endfacet\n facet normal 0.767694 0.640816 -0.000642465\n outer loop\n vertex -6.7392 2.03483 5\n vertex -7.0247 2.37385 2\n vertex -7.07345 2.43526 5\n endloop\n endfacet\n facet normal 0.803529 0.595265 -0.000597151\n outer loop\n vertex -7.07345 2.43526 5\n vertex -7.34278 2.79581 2\n vertex -7.38394 2.85438 5\n endloop\n endfacet\n facet normal 0.836661 0.547721 -0.000547084\n outer loop\n vertex -7.38394 2.85438 5\n vertex -7.63554 3.23571 2\n vertex -7.66963 3.29078 5\n endloop\n endfacet\n facet normal 0.866991 0.498324 -0.000500535\n outer loop\n vertex -7.66963 3.29078 5\n vertex -7.90199 3.69203 2\n vertex -7.92956 3.74301 5\n endloop\n endfacet\n facet normal 0.894396 0.447275 -0.000445401\n outer loop\n vertex -7.92956 3.74301 5\n vertex -8.14119 4.16321 2\n vertex -8.16286 4.20953 5\n endloop\n endfacet\n facet normal 0.918806 0.394708 -0.000392156\n outer loop\n vertex -8.16286 4.20953 5\n vertex -8.35233 4.6476 2\n vertex -8.36874 4.68878 5\n endloop\n endfacet\n facet normal 0.940129 0.340818 -0.000335991\n outer loop\n vertex -8.36874 4.68878 5\n vertex -8.53468 5.14356 2\n vertex -8.54651 5.17915 5\n endloop\n endfacet\n facet normal 0.958297 0.285773 -0.000279806\n outer loop\n vertex -8.54651 5.17915 5\n vertex -8.68761 5.64937 2\n vertex -8.69557 5.679 5\n endloop\n endfacet\n facet normal 0.973239 0.229794 -0.000219933\n outer loop\n vertex -8.69557 5.679 5\n vertex -8.81059 6.16327 2\n vertex -8.81543 6.18664 5\n endloop\n endfacet\n facet normal 0.98492 0.173008 -0.000158102\n outer loop\n vertex -8.81543 6.18664 5\n vertex -8.90319 6.68351 2\n vertex -8.90567 6.70037 5\n endloop\n endfacet\n facet normal 0.993288 0.115663 -9.78081e-05\n outer loop\n vertex -8.90567 6.70037 5\n vertex -8.96511 7.20829 2\n vertex -8.966 7.21847 5\n endloop\n endfacet\n facet normal 0.99832 0.0579364 -3.25771e-05\n outer loop\n vertex -8.966 7.21847 5\n vertex -8.99612 7.73579 2\n vertex -8.99622 7.7392 5\n endloop\n endfacet\n facet normal 0.998277 -0.0586854 9.70162e-05\n outer loop\n vertex -8.96511 8.79171 2\n vertex -8.966 8.78153 5\n vertex -8.99612 8.26421 2\n endloop\n endfacet\n facet normal 0.993288 -0.115665 -9.78157e-05\n outer loop\n vertex -8.96511 8.79171 2\n vertex -8.90567 9.29962 5\n vertex -8.966 8.78153 5\n endloop\n endfacet\n facet normal 0.993111 -0.117179 0.000162033\n outer loop\n vertex -8.90319 9.31649 2\n vertex -8.90567 9.29962 5\n vertex -8.96511 8.79171 2\n endloop\n endfacet\n facet normal 0.984526 -0.17524 0.000223245\n outer loop\n vertex -8.81059 9.83673 2\n vertex -8.81543 9.81336 5\n vertex -8.90319 9.31649 2\n endloop\n endfacet\n facet normal 0.972537 -0.232749 0.00028401\n outer loop\n vertex -8.68761 10.3506 2\n vertex -8.69557 10.321 5\n vertex -8.81059 9.83673 2\n endloop\n endfacet\n facet normal 0.957204 -0.289413 0.000349851\n outer loop\n vertex -8.53468 10.8564 2\n vertex -8.54651 10.8209 5\n vertex -8.68761 10.3506 2\n endloop\n endfacet\n facet normal 0.93858 -0.345061 0.0003952\n outer loop\n vertex -8.35233 11.3524 2\n vertex -8.36874 11.3112 5\n vertex -8.53468 10.8564 2\n endloop\n endfacet\n facet normal 0.916702 -0.399572 0.000454923\n outer loop\n vertex -8.14119 11.8368 2\n vertex -8.16286 11.7905 5\n vertex -8.35233 11.3524 2\n endloop\n endfacet\n facet normal 0.891685 -0.452655 0.00049945\n outer loop\n vertex -7.90199 12.308 2\n vertex -7.92956 12.257 5\n vertex -8.14119 11.8368 2\n endloop\n endfacet\n facet normal 0.863552 -0.504259 0.00055127\n outer loop\n vertex -7.63554 12.7643 2\n vertex -7.66963 12.7092 5\n vertex -7.90199 12.308 2\n endloop\n endfacet\n facet normal 0.832492 -0.554036 0.000599624\n outer loop\n vertex -7.34278 13.2042 2\n vertex -7.38394 13.1456 5\n vertex -7.63554 12.7643 2\n endloop\n endfacet\n facet normal 0.798562 -0.601912 0.00063745\n outer loop\n vertex -7.0247 13.6262 2\n vertex -7.07345 13.5647 5\n vertex -7.34278 13.2042 2\n endloop\n endfacet\n facet normal 0.761785 -0.64783 0.000708198\n outer loop\n vertex -6.68241 14.0287 2\n vertex -6.7392 13.9652 5\n vertex -7.0247 13.6262 2\n endloop\n endfacet\n facet normal 0.722519 -0.691351 0.000753741\n outer loop\n vertex -6.31708 14.4105 2\n vertex -6.38231 14.3456 5\n vertex -6.68241 14.0287 2\n endloop\n endfacet\n facet normal 0.680695 -0.732566 0.000773979\n outer loop\n vertex -5.92997 14.7702 2\n vertex -6.00398 14.7046 5\n vertex -6.31708 14.4105 2\n endloop\n endfacet\n facet normal 0.636463 -0.771307 0.000834881\n outer loop\n vertex -5.52242 15.1065 2\n vertex -5.60549 15.0412 5\n vertex -5.92997 14.7702 2\n endloop\n endfacet\n facet normal 0.590224 -0.807239 0.0011278\n outer loop\n vertex -5.09584 15.4184 2\n vertex -5.26482 15.2994 5.25823\n vertex -5.52242 15.1065 2\n endloop\n endfacet\n facet normal 0.541795 -0.84051 0.00107355\n outer loop\n vertex -4.65169 15.7047 2\n vertex -4.91227 15.5412 5.5\n vertex -5.09584 15.4184 2\n endloop\n endfacet\n facet normal 0.491473 -0.870892 0.00106066\n outer loop\n vertex -4.1915 15.9644 2\n vertex -4.46893 15.8121 5.5\n vertex -4.65169 15.7047 2\n endloop\n endfacet\n facet normal 0.439452 -0.898265 0.00103902\n outer loop\n vertex -3.71687 16.1966 2\n vertex -4.0107 16.0569 5.5\n vertex -4.1915 15.9644 2\n endloop\n endfacet\n facet normal 0.386059 -0.922473 0.00102965\n outer loop\n vertex -3.22942 16.4006 2\n vertex -3.53911 16.2749 5.5\n vertex -3.71687 16.1966 2\n endloop\n endfacet\n facet normal 0.331357 -0.943505 0.00102357\n outer loop\n vertex -2.73084 16.5757 2\n vertex -3.05572 16.4654 5.5\n vertex -3.22942 16.4006 2\n endloop\n endfacet\n facet normal 0.275351 -0.961343 0.000984226\n outer loop\n vertex -2.22285 16.7212 2\n vertex -2.56215 16.6276 5.5\n vertex -2.73084 16.5757 2\n endloop\n endfacet\n facet normal 0.218389 -0.975861 0.000965994\n outer loop\n vertex -1.70719 16.8366 2\n vertex -2.06004 16.7611 5.5\n vertex -2.22285 16.7212 2\n endloop\n endfacet\n facet normal 0.160856 -0.986977 0.000918097\n outer loop\n vertex -1.18565 16.9216 2\n vertex -1.55107 16.8653 5.5\n vertex -1.70719 16.8366 2\n endloop\n endfacet\n facet normal 0.102571 -0.994725 0.000899452\n outer loop\n vertex -0.660022 16.9758 2\n vertex -1.03693 16.9401 5.5\n vertex -1.18565 16.9216 2\n endloop\n endfacet\n facet normal 0.043905 -0.999035 0.00086113\n outer loop\n vertex -0.132118 16.999 2\n vertex -0.519328 16.985 5.5\n vertex -0.660022 16.9758 2\n endloop\n endfacet\n facet normal -0.0145719 -0.999893 0.000835744\n outer loop\n vertex 0.39624 16.9913 2\n vertex 0 17 5.5\n vertex -0.132118 16.999 2\n endloop\n endfacet\n facet normal -0.0734264 -0.9973 0.000787118\n outer loop\n vertex 0.923234 16.9525 2\n vertex 0.519328 16.985 5.5\n vertex 0.39624 16.9913 2\n endloop\n endfacet\n facet normal -0.131713 -0.991288 0.000766665\n outer loop\n vertex 1.44705 16.8829 2\n vertex 1.03693 16.9401 5.5\n vertex 0.923234 16.9525 2\n endloop\n endfacet\n facet normal -0.189626 -0.981856 0.000698364\n outer loop\n vertex 1.96587 16.7827 2\n vertex 1.55107 16.8653 5.5\n vertex 1.44705 16.8829 2\n endloop\n endfacet\n facet normal -0.246968 -0.969023 0.000664595\n outer loop\n vertex 2.47791 16.6522 2\n vertex 2.06004 16.7611 5.5\n vertex 1.96587 16.7827 2\n endloop\n endfacet\n facet normal -0.303534 -0.95282 0.000608663\n outer loop\n vertex 2.98142 16.4918 2\n vertex 2.56215 16.6276 5.5\n vertex 2.47791 16.6522 2\n endloop\n endfacet\n facet normal -0.358814 -0.933409 0.000576542\n outer loop\n vertex 3.47464 16.3022 2\n vertex 3.05572 16.4654 5.5\n vertex 2.98142 16.4918 2\n endloop\n endfacet\n facet normal -0.41294 -0.910758 0.000502443\n outer loop\n vertex 3.95589 16.084 2\n vertex 3.53911 16.2749 5.5\n vertex 3.47464 16.3022 2\n endloop\n endfacet\n facet normal -0.465731 -0.884926 0.000441486\n outer loop\n vertex 4.4235 15.8379 2\n vertex 4.0107 16.0569 5.5\n vertex 3.95589 16.084 2\n endloop\n endfacet\n facet normal -0.516829 -0.856089 0.000397841\n outer loop\n vertex 4.87587 15.5648 2\n vertex 4.46893 15.8121 5.5\n vertex 4.4235 15.8379 2\n endloop\n endfacet\n facet normal -0.565461 -0.824775 0.000319457\n outer loop\n vertex 5.26482 15.2994 5.25823\n vertex 4.91227 15.5412 5.5\n vertex 4.87587 15.5648 2\n endloop\n endfacet\n facet normal -0.521408 -0.853307 -0.000331088\n outer loop\n vertex 4.87587 15.5648 2\n vertex 4.91227 15.5412 5.5\n vertex 4.46893 15.8121 5.5\n endloop\n endfacet\n facet normal 0.984921 -0.173004 -0.00015866\n outer loop\n vertex -8.90319 9.31649 2\n vertex -8.81543 9.81336 5\n vertex -8.90567 9.29962 5\n endloop\n endfacet\n facet normal 0.973239 -0.229794 -0.000219933\n outer loop\n vertex -8.81059 9.83673 2\n vertex -8.69557 10.321 5\n vertex -8.81543 9.81336 5\n endloop\n endfacet\n facet normal 0.958305 -0.285747 -0.000276668\n outer loop\n vertex -8.68761 10.3506 2\n vertex -8.54651 10.8209 5\n vertex -8.69557 10.321 5\n endloop\n endfacet\n facet normal 0.940114 -0.340861 -0.000326337\n outer loop\n vertex -8.53468 10.8564 2\n vertex -8.36874 11.3112 5\n vertex -8.54651 10.8209 5\n endloop\n endfacet\n facet normal 0.918821 -0.394673 -0.000394228\n outer loop\n vertex -8.35233 11.3524 2\n vertex -8.16286 11.7905 5\n vertex -8.36874 11.3112 5\n endloop\n endfacet\n facet normal 0.894389 -0.44729 -0.000442711\n outer loop\n vertex -8.14119 11.8368 2\n vertex -7.92956 12.257 5\n vertex -8.16286 11.7905 5\n endloop\n endfacet\n facet normal 0.866977 -0.498349 -0.000504411\n outer loop\n vertex -7.90199 12.308 2\n vertex -7.66963 12.7092 5\n vertex -7.92956 12.257 5\n endloop\n endfacet\n facet normal 0.836661 -0.547721 -0.000552561\n outer loop\n vertex -7.63554 12.7643 2\n vertex -7.38394 13.1456 5\n vertex -7.66963 12.7092 5\n endloop\n endfacet\n facet normal 0.803515 -0.595284 -0.000603648\n outer loop\n vertex -7.34278 13.2042 2\n vertex -7.07345 13.5647 5\n vertex -7.38394 13.1456 5\n endloop\n endfacet\n facet normal 0.76775 -0.64075 -0.00065944\n outer loop\n vertex -7.0247 13.6262 2\n vertex -6.7392 13.9652 5\n vertex -7.07345 13.5647 5\n endloop\n endfacet\n facet normal 0.729283 -0.684211 -0.000677136\n outer loop\n vertex -6.68241 14.0287 2\n vertex -6.38231 14.3456 5\n vertex -6.7392 13.9652 5\n endloop\n endfacet\n facet normal 0.688332 -0.725395 -0.000726071\n outer loop\n vertex -6.31708 14.4105 2\n vertex -6.00398 14.7046 5\n vertex -6.38231 14.3456 5\n endloop\n endfacet\n facet normal 0.64529 -0.763938 -0.000785478\n outer loop\n vertex -5.92997 14.7702 2\n vertex -5.60549 15.0412 5\n vertex -6.00398 14.7046 5\n endloop\n endfacet\n facet normal 0.604324 -0.796738 -0.000608611\n outer loop\n vertex -5.52242 15.1065 2\n vertex -5.26482 15.2994 5.25823\n vertex -5.60549 15.0412 5\n endloop\n endfacet\n facet normal 0.565964 -0.82443 -0.000758272\n outer loop\n vertex -5.09584 15.4184 2\n vertex -4.91227 15.5412 5.5\n vertex -5.26482 15.2994 5.25823\n endloop\n endfacet\n facet normal 0.521408 -0.853307 -0.00104208\n outer loop\n vertex -4.65169 15.7047 2\n vertex -4.46893 15.8121 5.5\n vertex -4.91227 15.5412 5.5\n endloop\n endfacet\n facet normal 0.471203 -0.882024 -0.00103038\n outer loop\n vertex -4.1915 15.9644 2\n vertex -4.0107 16.0569 5.5\n vertex -4.46893 15.8121 5.5\n endloop\n endfacet\n facet normal 0.419602 -0.907708 -0.00100429\n outer loop\n vertex -3.71687 16.1966 2\n vertex -3.53911 16.2749 5.5\n vertex -4.0107 16.0569 5.5\n endloop\n endfacet\n facet normal 0.366647 -0.93036 -0.000971224\n outer loop\n vertex -3.22942 16.4006 2\n vertex -3.05572 16.4654 5.5\n vertex -3.53911 16.2749 5.5\n endloop\n endfacet\n facet normal 0.3122 -0.950016 -0.000959772\n outer loop\n vertex -2.73084 16.5757 2\n vertex -2.56215 16.6276 5.5\n vertex -3.05572 16.4654 5.5\n endloop\n endfacet\n facet normal 0.256951 -0.966424 -0.000935387\n outer loop\n vertex -2.22285 16.7212 2\n vertex -2.06004 16.7611 5.5\n vertex -2.56215 16.6276 5.5\n endloop\n endfacet\n facet normal 0.200567 -0.97968 -0.000913064\n outer loop\n vertex -1.70719 16.8366 2\n vertex -1.55107 16.8653 5.5\n vertex -2.06004 16.7611 5.5\n endloop\n endfacet\n facet normal 0.14397 -0.989582 -0.000886843\n outer loop\n vertex -1.18565 16.9216 2\n vertex -1.03693 16.9401 5.5\n vertex -1.55107 16.8653 5.5\n endloop\n endfacet\n facet normal 0.0864216 -0.996258 -0.000855264\n outer loop\n vertex -0.660022 16.9758 2\n vertex -0.519328 16.985 5.5\n vertex -1.03693 16.9401 5.5\n endloop\n endfacet\n facet normal 0.0288714 -0.999583 -0.000804244\n outer loop\n vertex -0.132118 16.999 2\n vertex 0 17 5.5\n vertex -0.519328 16.985 5.5\n endloop\n endfacet\n facet normal -0.0288714 -0.999583 -0.000783899\n outer loop\n vertex 0.39624 16.9913 2\n vertex 0.519328 16.985 5.5\n vertex 0 17 5.5\n endloop\n endfacet\n facet normal -0.0864216 -0.996258 -0.000722232\n outer loop\n vertex 0.923234 16.9525 2\n vertex 1.03693 16.9401 5.5\n vertex 0.519328 16.985 5.5\n endloop\n endfacet\n facet normal -0.14397 -0.989582 -0.000697395\n outer loop\n vertex 1.44705 16.8829 2\n vertex 1.55107 16.8653 5.5\n vertex 1.03693 16.9401 5.5\n endloop\n endfacet\n facet normal -0.200567 -0.97968 -0.000649623\n outer loop\n vertex 1.96587 16.7827 2\n vertex 2.06004 16.7611 5.5\n vertex 1.55107 16.8653 5.5\n endloop\n endfacet\n facet normal -0.256951 -0.966424 -0.00060814\n outer loop\n vertex 2.47791 16.6522 2\n vertex 2.56215 16.6276 5.5\n vertex 2.06004 16.7611 5.5\n endloop\n endfacet\n facet normal -0.3122 -0.950016 -0.000538273\n outer loop\n vertex 2.98142 16.4918 2\n vertex 3.05572 16.4654 5.5\n vertex 2.56215 16.6276 5.5\n endloop\n endfacet\n facet normal -0.366647 -0.93036 -0.000503167\n outer loop\n vertex 3.47464 16.3022 2\n vertex 3.53911 16.2749 5.5\n vertex 3.05572 16.4654 5.5\n endloop\n endfacet\n facet normal -0.419602 -0.907708 -0.000457278\n outer loop\n vertex 3.95589 16.084 2\n vertex 4.0107 16.0569 5.5\n vertex 3.53911 16.2749 5.5\n endloop\n endfacet\n facet normal -0.471204 -0.882024 -0.000385559\n outer loop\n vertex 4.4235 15.8379 2\n vertex 4.46893 15.8121 5.5\n vertex 4.0107 16.0569 5.5\n endloop\n endfacet\n facet normal -0.56622 -0.824254 0.000452383\n outer loop\n vertex 5.31142 15.2656 2\n vertex 5.26482 15.2994 5.25823\n vertex 4.87587 15.5648 2\n endloop\n endfacet\n facet normal -0.604212 -0.796824 -0.000375551\n outer loop\n vertex 5.31142 15.2656 2\n vertex 5.60549 15.0412 5\n vertex 5.26482 15.2994 5.25823\n endloop\n endfacet\n facet normal -0.613554 -0.789652 0.00107659\n outer loop\n vertex 5.72867 14.9414 2\n vertex 5.60549 15.0412 5\n vertex 5.31142 15.2656 2\n endloop\n endfacet\n facet normal -0.658919 -0.752213 0.00109438\n outer loop\n vertex 6.12617 14.5932 2\n vertex 6.00398 14.7046 5\n vertex 5.72867 14.9414 2\n endloop\n endfacet\n facet normal -0.701912 -0.712263 0.00114375\n outer loop\n vertex 6.50254 14.2223 2\n vertex 6.38231 14.3456 5\n vertex 6.12617 14.5932 2\n endloop\n endfacet\n facet normal -0.742531 -0.669811 0.00117302\n outer loop\n vertex 6.85651 13.8299 2\n vertex 6.7392 13.9652 5\n vertex 6.50254 14.2223 2\n endloop\n endfacet\n facet normal -0.78049 -0.625168 0.00117499\n outer loop\n vertex 7.18684 13.4175 2\n vertex 7.07345 13.5647 5\n vertex 6.85651 13.8299 2\n endloop\n endfacet\n facet normal -0.815856 -0.578253 0.00119276\n outer loop\n vertex 7.49239 12.9864 2\n vertex 7.38394 13.1456 5\n vertex 7.18684 13.4175 2\n endloop\n endfacet\n facet normal -0.848395 -0.529362 0.00121011\n outer loop\n vertex 7.77211 12.5381 2\n vertex 7.66963 12.7092 5\n vertex 7.49239 12.9864 2\n endloop\n endfacet\n facet normal -0.878015 -0.478632 0.00123336\n outer loop\n vertex 8.02505 12.0741 2\n vertex 7.92956 12.257 5\n vertex 7.77211 12.5381 2\n endloop\n endfacet\n facet normal -0.904578 -0.426306 0.00125317\n outer loop\n vertex 8.25032 11.5961 2\n vertex 8.16286 11.7905 5\n vertex 8.02505 12.0741 2\n endloop\n endfacet\n facet normal -0.928012 -0.372549 0.00125202\n outer loop\n vertex 8.44715 11.1058 2\n vertex 8.36874 11.3112 5\n vertex 8.25032 11.5961 2\n endloop\n endfacet\n facet normal -0.948298 -0.31738 0.00126712\n outer loop\n vertex 8.61486 10.6047 2\n vertex 8.54651 10.8209 5\n vertex 8.44715 11.1058 2\n endloop\n endfacet\n facet normal -0.965293 -0.261165 0.00127213\n outer loop\n vertex 8.75287 10.0946 2\n vertex 8.69557 10.321 5\n vertex 8.61486 10.6047 2\n endloop\n endfacet\n facet normal -0.978954 -0.204076 0.00128304\n outer loop\n vertex 8.86071 9.57729 2\n vertex 8.81543 9.81336 5\n vertex 8.75287 10.0946 2\n endloop\n endfacet\n facet normal -0.989244 -0.146268 0.00128739\n outer loop\n vertex 8.938 9.05456 2\n vertex 8.90567 9.29962 5\n vertex 8.86071 9.57729 2\n endloop\n endfacet\n facet normal -0.996121 -0.0879793 0.00129013\n outer loop\n vertex 8.98449 8.52819 2\n vertex 8.966 8.78153 5\n vertex 8.938 9.05456 2\n endloop\n endfacet\n facet normal -0.999568 -0.0293518 0.00129219\n outer loop\n vertex 9 8 2\n vertex 8.99622 8.2608 5\n vertex 8.98449 8.52819 2\n endloop\n endfacet\n facet normal -0.999999 -0 -0.00126\n outer loop\n vertex 8.99622 8.2608 5\n vertex 9 8 2\n vertex 8.99622 7.7392 5\n endloop\n endfacet\n facet normal -0.645289 -0.763937 -0.00108193\n outer loop\n vertex 5.72867 14.9414 2\n vertex 6.00398 14.7046 5\n vertex 5.60549 15.0412 5\n endloop\n endfacet\n facet normal -0.688332 -0.725395 -0.00109944\n outer loop\n vertex 6.12617 14.5932 2\n vertex 6.38231 14.3456 5\n vertex 6.00398 14.7046 5\n endloop\n endfacet\n facet normal -0.729283 -0.684211 -0.00110617\n outer loop\n vertex 6.50254 14.2223 2\n vertex 6.7392 13.9652 5\n vertex 6.38231 14.3456 5\n endloop\n endfacet\n facet normal -0.767749 -0.640749 -0.00112375\n outer loop\n vertex 6.85651 13.8299 2\n vertex 7.07345 13.5647 5\n vertex 6.7392 13.9652 5\n endloop\n endfacet\n facet normal -0.803515 -0.595284 -0.0011616\n outer loop\n vertex 7.18684 13.4175 2\n vertex 7.38394 13.1456 5\n vertex 7.07345 13.5647 5\n endloop\n endfacet\n facet normal -0.83666 -0.547721 -0.00117954\n outer loop\n vertex 7.49239 12.9864 2\n vertex 7.66963 12.7092 5\n vertex 7.38394 13.1456 5\n endloop\n endfacet\n facet normal -0.866976 -0.498348 -0.00119344\n outer loop\n vertex 7.77211 12.5381 2\n vertex 7.92956 12.257 5\n vertex 7.66963 12.7092 5\n endloop\n endfacet\n facet normal -0.894388 -0.44729 -0.0011986\n outer loop\n vertex 8.02505 12.0741 2\n vertex 8.16286 11.7905 5\n vertex 7.92956 12.257 5\n endloop\n endfacet\n facet normal -0.918821 -0.394673 -0.00121187\n outer loop\n vertex 8.25032 11.5961 2\n vertex 8.36874 11.3112 5\n vertex 8.16286 11.7905 5\n endloop\n endfacet\n facet normal -0.940113 -0.34086 -0.00123384\n outer loop\n vertex 8.44715 11.1058 2\n vertex 8.54651 10.8209 5\n vertex 8.36874 11.3112 5\n endloop\n endfacet\n facet normal -0.958304 -0.285747 -0.00124054\n outer loop\n vertex 8.61486 10.6047 2\n vertex 8.69557 10.321 5\n vertex 8.54651 10.8209 5\n endloop\n endfacet\n facet normal -0.973239 -0.229794 -0.00124711\n outer loop\n vertex 8.75287 10.0946 2\n vertex 8.81543 9.81336 5\n vertex 8.69557 10.321 5\n endloop\n endfacet\n facet normal -0.98492 -0.173004 -0.00125203\n outer loop\n vertex 8.86071 9.57729 2\n vertex 8.90567 9.29962 5\n vertex 8.81543 9.81336 5\n endloop\n endfacet\n facet normal -0.993287 -0.115665 -0.00125602\n outer loop\n vertex 8.938 9.05456 2\n vertex 8.966 8.78153 5\n vertex 8.90567 9.29962 5\n endloop\n endfacet\n facet normal -0.998319 -0.0579364 -0.00126044\n outer loop\n vertex 8.98449 8.52819 2\n vertex 8.99622 8.2608 5\n vertex 8.966 8.78153 5\n endloop\n endfacet\n facet normal 0.447528 -0.550627 0.704648\n outer loop\n vertex -5.60549 15.0412 5\n vertex -5.77757 15.5412 5.5\n vertex -6.20008 15.1978 5.5\n endloop\n endfacet\n facet normal 0.454778 -0.538398 0.70944\n outer loop\n vertex -6.00398 14.7046 5\n vertex -5.60549 15.0412 5\n vertex -6.20008 15.1978 5.5\n endloop\n endfacet\n facet normal 0.478252 -0.524187 0.704629\n outer loop\n vertex -6.00398 14.7046 5\n vertex -6.20008 15.1978 5.5\n vertex -6.60222 14.8309 5.5\n endloop\n endfacet\n facet normal 0.507649 -0.495867 0.704563\n outer loop\n vertex -6.38231 14.3456 5\n vertex -6.60222 14.8309 5.5\n vertex -6.98268 14.4414 5.5\n endloop\n endfacet\n facet normal 0.535169 -0.466099 0.704518\n outer loop\n vertex -6.7392 13.9652 5\n vertex -6.98268 14.4414 5.5\n vertex -7.3402 14.0309 5.5\n endloop\n endfacet\n facet normal 0.561022 -0.434609 0.704535\n outer loop\n vertex -7.07345 13.5647 5\n vertex -7.3402 14.0309 5.5\n vertex -7.67362 13.6005 5.5\n endloop\n endfacet\n facet normal 0.585036 -0.401782 0.704488\n outer loop\n vertex -7.38394 13.1456 5\n vertex -7.67362 13.6005 5.5\n vertex -7.98184 13.1517 5.5\n endloop\n endfacet\n facet normal 0.60711 -0.367642 0.704455\n outer loop\n vertex -7.66963 12.7092 5\n vertex -7.98184 13.1517 5.5\n vertex -8.26385 12.686 5.5\n endloop\n endfacet\n facet normal 0.627211 -0.332261 0.704421\n outer loop\n vertex -7.92956 12.257 5\n vertex -8.26385 12.686 5.5\n vertex -8.51871 12.2049 5.5\n endloop\n endfacet\n facet normal 0.645239 -0.295814 0.704387\n outer loop\n vertex -8.16286 11.7905 5\n vertex -8.51871 12.2049 5.5\n vertex -8.7456 11.71 5.5\n endloop\n endfacet\n facet normal 0.661105 -0.258405 0.704392\n outer loop\n vertex -8.36874 11.3112 5\n vertex -8.7456 11.71 5.5\n vertex -8.94377 11.203 5.5\n endloop\n endfacet\n facet normal 0.674859 -0.220072 0.704368\n outer loop\n vertex -8.54651 10.8209 5\n vertex -8.94377 11.203 5.5\n vertex -9.11256 10.6854 5.5\n endloop\n endfacet\n facet normal 0.686354 -0.181068 0.704367\n outer loop\n vertex -8.69557 10.321 5\n vertex -9.11256 10.6854 5.5\n vertex -9.25143 10.159 5.5\n endloop\n endfacet\n facet normal 0.695619 -0.141434 0.704351\n outer loop\n vertex -8.81543 9.81336 5\n vertex -9.25143 10.159 5.5\n vertex -9.35991 9.62546 5.5\n endloop\n endfacet\n facet normal 0.702587 -0.101362 0.704342\n outer loop\n vertex -8.90567 9.29962 5\n vertex -9.35991 9.62546 5.5\n vertex -9.43765 9.08661 5.5\n endloop\n endfacet\n facet normal 0.707244 -0.0609569 0.704337\n outer loop\n vertex -8.966 8.78153 5\n vertex -9.43765 9.08661 5.5\n vertex -9.4844 8.5442 5.5\n endloop\n endfacet\n facet normal 0.709578 -0.0203407 0.704333\n outer loop\n vertex -8.99622 8.2608 5\n vertex -9.4844 8.5442 5.5\n vertex -9.5 8 5.5\n endloop\n endfacet\n facet normal 0.709578 0.0203407 0.704333\n outer loop\n vertex -9.4844 7.4558 5.5\n vertex -8.99622 7.7392 5\n vertex -9.5 8 5.5\n endloop\n endfacet\n facet normal 0.707244 0.0609569 0.704337\n outer loop\n vertex -9.43765 6.91339 5.5\n vertex -8.966 7.21847 5\n vertex -9.4844 7.4558 5.5\n endloop\n endfacet\n facet normal 0.702588 0.101362 0.704341\n outer loop\n vertex -9.35991 6.37454 5.5\n vertex -8.90567 6.70037 5\n vertex -9.43765 6.91339 5.5\n endloop\n endfacet\n facet normal 0.69562 0.141445 0.704348\n outer loop\n vertex -9.25143 5.84104 5.5\n vertex -8.81543 6.18664 5\n vertex -9.35991 6.37454 5.5\n endloop\n endfacet\n facet normal 0.68636 0.181062 0.704362\n outer loop\n vertex -9.11256 5.31462 5.5\n vertex -8.69557 5.679 5\n vertex -9.25143 5.84104 5.5\n endloop\n endfacet\n facet normal 0.674852 0.220074 0.704373\n outer loop\n vertex -8.94377 4.79703 5.5\n vertex -8.54651 5.17915 5\n vertex -9.11256 5.31462 5.5\n endloop\n endfacet\n facet normal 0.66112 0.25837 0.70439\n outer loop\n vertex -8.7456 4.28995 5.5\n vertex -8.36874 4.68878 5\n vertex -8.94377 4.79703 5.5\n endloop\n endfacet\n facet normal 0.645217 0.29581 0.704409\n outer loop\n vertex -8.51871 3.79506 5.5\n vertex -8.16286 4.20953 5\n vertex -8.7456 4.28995 5.5\n endloop\n endfacet\n facet normal 0.627194 0.332266 0.704434\n outer loop\n vertex -8.26385 3.31398 5.5\n vertex -7.92956 3.74301 5\n vertex -8.51871 3.79506 5.5\n endloop\n endfacet\n facet normal 0.60711 0.367642 0.704455\n outer loop\n vertex -7.98184 2.84828 5.5\n vertex -7.66963 3.29078 5\n vertex -8.26385 3.31398 5.5\n endloop\n endfacet\n facet normal 0.58503 0.401805 0.704481\n outer loop\n vertex -7.67362 2.39951 5.5\n vertex -7.38394 2.85438 5\n vertex -7.98184 2.84828 5.5\n endloop\n endfacet\n facet normal 0.561033 0.434639 0.704507\n outer loop\n vertex -7.3402 1.96913 5.5\n vertex -7.07345 2.43526 5\n vertex -7.67362 2.39951 5.5\n endloop\n endfacet\n facet normal 0.535193 0.46604 0.704539\n outer loop\n vertex -6.98268 1.55856 5.5\n vertex -6.7392 2.03483 5\n vertex -7.3402 1.96913 5.5\n endloop\n endfacet\n facet normal 0.507588 0.495909 0.704577\n outer loop\n vertex -6.60222 1.16914 5.5\n vertex -6.38231 1.65444 5\n vertex -6.98268 1.55856 5.5\n endloop\n endfacet\n facet normal 0.478324 0.524137 0.704618\n outer loop\n vertex -6.20008 0.80215 5.5\n vertex -6.00398 1.29536 5\n vertex -6.60222 1.16914 5.5\n endloop\n endfacet\n facet normal 0.447481 0.550653 0.704658\n outer loop\n vertex -5.77757 0.458803 5.5\n vertex -5.60549 0.958803 5\n vertex -6.20008 0.80215 5.5\n endloop\n endfacet\n facet normal 0.454736 0.538416 0.709452\n outer loop\n vertex -5.60549 0.958803 5\n vertex -6.00398 1.29536 5\n vertex -6.20008 0.80215 5.5\n endloop\n endfacet\n facet normal 0.48507 -0.511188 0.709503\n outer loop\n vertex -6.38231 14.3456 5\n vertex -6.00398 14.7046 5\n vertex -6.60222 14.8309 5.5\n endloop\n endfacet\n facet normal 0.513938 -0.482174 0.70949\n outer loop\n vertex -6.7392 13.9652 5\n vertex -6.38231 14.3456 5\n vertex -6.98268 14.4414 5.5\n endloop\n endfacet\n facet normal 0.540976 -0.451489 0.709579\n outer loop\n vertex -7.07345 13.5647 5\n vertex -6.7392 13.9652 5\n vertex -7.3402 14.0309 5.5\n endloop\n endfacet\n facet normal 0.566154 -0.419435 0.709609\n outer loop\n vertex -7.38394 13.1456 5\n vertex -7.07345 13.5647 5\n vertex -7.67362 13.6005 5.5\n endloop\n endfacet\n facet normal 0.589494 -0.385913 0.709625\n outer loop\n vertex -7.66963 12.7092 5\n vertex -7.38394 13.1456 5\n vertex -7.98184 13.1517 5.5\n endloop\n endfacet\n facet normal 0.610834 -0.351115 0.709648\n outer loop\n vertex -7.92956 12.257 5\n vertex -7.66963 12.7092 5\n vertex -8.26385 12.686 5.5\n endloop\n endfacet\n facet normal 0.63014 -0.315137 0.709656\n outer loop\n vertex -8.16286 11.7905 5\n vertex -7.92956 12.257 5\n vertex -8.51871 12.2049 5.5\n endloop\n endfacet\n facet normal 0.64733 -0.278056 0.709683\n outer loop\n vertex -8.36874 11.3112 5\n vertex -8.16286 11.7905 5\n vertex -8.7456 11.71 5.5\n endloop\n endfacet\n facet normal 0.662298 -0.240132 0.709717\n outer loop\n vertex -8.54651 10.8209 5\n vertex -8.36874 11.3112 5\n vertex -8.94377 11.203 5.5\n endloop\n endfacet\n facet normal 0.675101 -0.201301 0.709729\n outer loop\n vertex -8.69557 10.321 5\n vertex -8.54651 10.8209 5\n vertex -9.11256 10.6854 5.5\n endloop\n endfacet\n facet normal 0.685603 -0.161879 0.709749\n outer loop\n vertex -8.81543 9.81336 5\n vertex -8.69557 10.321 5\n vertex -9.25143 10.159 5.5\n endloop\n endfacet\n facet normal 0.693829 -0.121873 0.709752\n outer loop\n vertex -8.90567 9.29962 5\n vertex -8.81543 9.81336 5\n vertex -9.35991 9.62546 5.5\n endloop\n endfacet\n facet normal 0.699717 -0.0814799 0.709759\n outer loop\n vertex -8.966 8.78153 5\n vertex -8.90567 9.29962 5\n vertex -9.43765 9.08661 5.5\n endloop\n endfacet\n facet normal 0.703256 -0.0408127 0.709764\n outer loop\n vertex -8.99622 8.2608 5\n vertex -8.966 8.78153 5\n vertex -9.4844 8.5442 5.5\n endloop\n endfacet\n facet normal 0.704439 -0 0.709765\n outer loop\n vertex -8.99622 7.7392 5\n vertex -8.99622 8.2608 5\n vertex -9.5 8 5.5\n endloop\n endfacet\n facet normal 0.703256 0.0408127 0.709764\n outer loop\n vertex -8.966 7.21847 5\n vertex -8.99622 7.7392 5\n vertex 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endfacet\n facet normal 0.630128 0.315118 0.709676\n outer loop\n vertex -7.92956 3.74301 5\n vertex -8.16286 4.20953 5\n vertex -8.51871 3.79506 5.5\n endloop\n endfacet\n facet normal 0.610839 0.351094 0.709654\n outer loop\n vertex -7.66963 3.29078 5\n vertex -7.92956 3.74301 5\n vertex -8.26385 3.31398 5.5\n endloop\n endfacet\n facet normal 0.589494 0.385913 0.709625\n outer loop\n vertex -7.38394 2.85438 5\n vertex -7.66963 3.29078 5\n vertex -7.98184 2.84828 5.5\n endloop\n endfacet\n facet normal 0.566176 0.419431 0.709593\n outer loop\n vertex -7.07345 2.43526 5\n vertex -7.38394 2.85438 5\n vertex -7.67362 2.39951 5.5\n endloop\n endfacet\n facet normal 0.540953 0.451548 0.709559\n outer loop\n vertex -6.7392 2.03483 5\n vertex -7.07345 2.43526 5\n vertex -7.3402 1.96913 5.5\n endloop\n endfacet\n facet normal 0.513905 0.482157 0.709525\n outer loop\n vertex -6.38231 1.65444 5\n vertex -6.7392 2.03483 5\n vertex -6.98268 1.55856 5.5\n endloop\n endfacet\n facet normal 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1.30837 5.5\n vertex 9.4844 7.4558 5.5\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 17.1968 1.36678 5.5\n vertex 9.4844 7.4558 5.5\n vertex 17.0018 1.30837 5.5\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 30 15.5412 5.5\n vertex 9.25143 10.159 5.5\n vertex 9.35991 9.62546 5.5\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 30 15.5412 5.5\n vertex 9.11256 10.6854 5.5\n vertex 9.25143 10.159 5.5\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 30 15.5412 5.5\n vertex 8.94377 11.203 5.5\n vertex 9.11256 10.6854 5.5\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 30 15.5412 5.5\n vertex 8.7456 11.71 5.5\n vertex 8.94377 11.203 5.5\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 30 15.5412 5.5\n vertex 8.51871 12.2049 5.5\n vertex 8.7456 11.71 5.5\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 30 15.5412 5.5\n vertex 8.26385 12.686 5.5\n vertex 8.51871 12.2049 5.5\n 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0.258671 -0.656372 0.708707\n outer loop\n vertex -3.53911 16.2749 5.5\n vertex -3.05572 16.4654 5.5\n vertex -3.63875 16.7755 6\n endloop\n endfacet\n facet normal 0.220328 -0.670451 0.708485\n outer loop\n vertex -3.05572 16.4654 5.5\n vertex -2.56215 16.6276 5.5\n vertex -3.14051 16.9659 6\n endloop\n endfacet\n facet normal 0.181394 -0.682246 0.708263\n outer loop\n vertex -2.56215 16.6276 5.5\n vertex -2.06004 16.7611 5.5\n vertex -2.63236 17.128 6\n endloop\n endfacet\n facet normal 0.141633 -0.691811 0.708052\n outer loop\n vertex -2.06004 16.7611 5.5\n vertex -1.55107 16.8653 5.5\n vertex -2.11591 17.2614 6\n endloop\n endfacet\n facet normal 0.101701 -0.699043 0.707811\n outer loop\n vertex -1.55107 16.8653 5.5\n vertex -1.03693 16.9401 5.5\n vertex -1.5928 17.3655 6\n endloop\n endfacet\n facet normal 0.0610711 -0.704021 0.707549\n outer loop\n vertex -1.03693 16.9401 5.5\n vertex -0.519328 16.985 5.5\n vertex -1.06466 17.4402 6\n endloop\n endfacet\n facet normal 0.0204113 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-2.63236 17.128 6\n vertex -3.14051 16.9659 6\n endloop\n endfacet\n facet normal 0.177131 -0.68575 0.705954\n outer loop\n vertex -2.06004 16.7611 5.5\n vertex -2.11591 17.2614 6\n vertex -2.63236 17.128 6\n endloop\n endfacet\n facet normal 0.138186 -0.694393 0.706204\n outer loop\n vertex -1.55107 16.8653 5.5\n vertex -1.5928 17.3655 6\n vertex -2.11591 17.2614 6\n endloop\n endfacet\n facet normal 0.099121 -0.7008 0.706438\n outer loop\n vertex -1.03693 16.9401 5.5\n vertex -1.06466 17.4402 6\n vertex -1.5928 17.3655 6\n endloop\n endfacet\n facet normal 0.0594286 -0.705034 0.706679\n outer loop\n vertex -0.519328 16.985 5.5\n vertex -0.533173 17.485 6\n vertex -1.06466 17.4402 6\n endloop\n endfacet\n facet normal -0.0204113 -0.706677 0.707242\n outer loop\n vertex 0.519328 16.985 5.5\n vertex 0.533173 17.485 6\n vertex 0 17 5.5\n endloop\n endfacet\n facet normal -0.0594286 -0.705034 0.706679\n outer loop\n vertex 1.06466 17.4402 6\n vertex 0.533173 17.485 6\n vertex 0.519328 16.985 5.5\n endloop\n endfacet\n facet normal -0.0610711 -0.704021 0.707549\n outer loop\n vertex 1.03693 16.9401 5.5\n vertex 1.06466 17.4402 6\n vertex 0.519328 16.985 5.5\n endloop\n endfacet\n facet normal -0.101701 -0.699043 0.707811\n outer loop\n vertex 1.55107 16.8653 5.5\n vertex 1.5928 17.3655 6\n vertex 1.03693 16.9401 5.5\n endloop\n endfacet\n facet normal -0.141633 -0.691811 0.708052\n outer loop\n vertex 2.06004 16.7611 5.5\n vertex 2.11591 17.2614 6\n vertex 1.55107 16.8653 5.5\n endloop\n endfacet\n facet normal -0.181394 -0.682246 0.708263\n outer loop\n vertex 2.56215 16.6276 5.5\n vertex 2.63236 17.128 6\n vertex 2.06004 16.7611 5.5\n endloop\n endfacet\n facet normal -0.220328 -0.670451 0.708485\n outer loop\n vertex 3.05572 16.4654 5.5\n vertex 3.14051 16.9659 6\n vertex 2.56215 16.6276 5.5\n endloop\n endfacet\n facet normal -0.258671 -0.656372 0.708707\n outer loop\n vertex 3.53911 16.2749 5.5\n vertex 3.63875 16.7755 6\n vertex 3.05572 16.4654 5.5\n endloop\n endfacet\n facet normal -0.295939 -0.640192 0.708925\n outer loop\n vertex 4.0107 16.0569 5.5\n vertex 4.12553 16.5575 6\n vertex 3.53911 16.2749 5.5\n endloop\n endfacet\n facet normal -0.33229 -0.621999 0.709014\n outer loop\n vertex 4.46893 15.8121 5.5\n vertex 4.5993 16.3124 6\n vertex 4.0107 16.0569 5.5\n endloop\n endfacet\n facet normal -0.36761 -0.601611 0.709174\n outer loop\n vertex 4.91227 15.5412 5.5\n vertex 5.05857 16.0412 6\n vertex 4.46893 15.8121 5.5\n endloop\n endfacet\n facet normal -0.360591 -0.610651 0.705038\n outer loop\n vertex 5.05857 16.0412 6\n vertex 4.5993 16.3124 6\n vertex 4.46893 15.8121 5.5\n endloop\n endfacet\n facet normal -0.099121 -0.7008 0.706438\n outer loop\n vertex 1.5928 17.3655 6\n vertex 1.06466 17.4402 6\n vertex 1.03693 16.9401 5.5\n endloop\n endfacet\n facet normal -0.138186 -0.694393 0.706204\n outer loop\n vertex 2.11591 17.2614 6\n vertex 1.5928 17.3655 6\n vertex 1.55107 16.8653 5.5\n endloop\n endfacet\n facet normal -0.177131 -0.68575 0.705954\n outer loop\n vertex 2.63236 17.128 6\n vertex 2.11591 17.2614 6\n vertex 2.06004 16.7611 5.5\n endloop\n endfacet\n facet normal -0.215313 -0.674963 0.705737\n outer loop\n vertex 3.14051 16.9659 6\n vertex 2.63236 17.128 6\n vertex 2.56215 16.6276 5.5\n endloop\n endfacet\n facet normal -0.252972 -0.66198 0.705541\n outer loop\n vertex 3.63875 16.7755 6\n vertex 3.14051 16.9659 6\n vertex 3.05572 16.4654 5.5\n endloop\n endfacet\n facet normal -0.289706 -0.646896 0.705405\n outer loop\n vertex 4.12553 16.5575 6\n vertex 3.63875 16.7755 6\n vertex 3.53911 16.2749 5.5\n endloop\n endfacet\n facet normal -0.32576 -0.629683 0.705252\n outer loop\n vertex 4.5993 16.3124 6\n vertex 4.12553 16.5575 6\n vertex 4.0107 16.0569 5.5\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 29.5 20.5 6\n vertex 30 16.0412 6\n vertex 30 21.0412 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 29.5 20.5 6\n vertex 5.05857 16.0412 6\n vertex 30 16.0412 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 0 20.5 6\n vertex 5.05857 16.0412 6\n vertex 29.5 20.5 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 5.05857 16.0412 6\n vertex 0 20.5 6\n vertex 4.5993 16.3124 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 4.5993 16.3124 6\n vertex 0 20.5 6\n vertex 4.12553 16.5575 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 4.12553 16.5575 6\n vertex 0 20.5 6\n vertex 3.63875 16.7755 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3.63875 16.7755 6\n vertex 0 20.5 6\n vertex 3.14051 16.9659 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3.14051 16.9659 6\n vertex 0 20.5 6\n vertex 2.63236 17.128 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 2.63236 17.128 6\n vertex 0 20.5 6\n vertex 2.11591 17.2614 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 2.11591 17.2614 6\n vertex 0 20.5 6\n vertex 1.5928 17.3655 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 1.5928 17.3655 6\n vertex 0 20.5 6\n vertex 1.06466 17.4402 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 1.06466 17.4402 6\n vertex 0 20.5 6\n vertex 0.533173 17.485 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 20.5 6\n vertex 0 17.5 6\n vertex 0.533173 17.485 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 20.5 6\n vertex -0.533173 17.485 6\n vertex 0 17.5 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 20.5 6\n vertex -1.06466 17.4402 6\n vertex -0.533173 17.485 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 20.5 6\n vertex -1.5928 17.3655 6\n vertex -1.06466 17.4402 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 20.5 6\n vertex -2.11591 17.2614 6\n vertex -1.5928 17.3655 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 20.5 6\n vertex -2.63236 17.128 6\n vertex -2.11591 17.2614 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 20.5 6\n vertex -3.14051 16.9659 6\n vertex -2.63236 17.128 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 20.5 6\n vertex -3.63875 16.7755 6\n vertex -3.14051 16.9659 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 20.5 6\n vertex -4.12553 16.5575 6\n vertex -3.63875 16.7755 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 20.5 6\n vertex -4.5993 16.3124 6\n vertex -4.12553 16.5575 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 20.5 6\n vertex -5.05857 16.0412 6\n vertex -4.5993 16.3124 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -29.5 20.5 6\n vertex -5.05857 16.0412 6\n vertex 0 20.5 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -29.5 20.5 6\n vertex -30 16.0412 6\n vertex -5.05857 16.0412 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -30 16.0412 6\n vertex -29.5 20.5 6\n vertex -30 21.0412 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 30 -0.0411959 6\n vertex 29.5 -4.5 6\n vertex 30 -5.0412 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 19.3799 -0.275687 6\n vertex 30 -0.0411959 6\n vertex 19.3996 -0.0411959 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 19.3314 -0.50595 6\n vertex 30 -0.0411959 6\n vertex 19.3799 -0.275687 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 30 -0.0411959 6\n vertex 19.3314 -0.50595 6\n vertex 29.5 -4.5 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 19.2548 -0.728453 6\n vertex 29.5 -4.5 6\n vertex 19.3314 -0.50595 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 19.1513 -0.939781 6\n vertex 29.5 -4.5 6\n vertex 19.2548 -0.728453 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 19.0225 -1.13669 6\n vertex 29.5 -4.5 6\n vertex 19.1513 -0.939781 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 18.8703 -1.31617 6\n vertex 29.5 -4.5 6\n vertex 19.0225 -1.13669 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 18.6971 -1.47546 6\n vertex 29.5 -4.5 6\n vertex 18.8703 -1.31617 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 18.5055 -1.61212 6\n vertex 29.5 -4.5 6\n vertex 18.6971 -1.47546 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 18.2985 -1.72405 6\n vertex 29.5 -4.5 6\n vertex 18.5055 -1.61212 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 18.0793 -1.80954 6\n vertex 29.5 -4.5 6\n vertex 18.2985 -1.72405 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 17.8512 -1.86727 6\n vertex 29.5 -4.5 6\n vertex 18.0793 -1.80954 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 17.6177 -1.89635 6\n vertex 29.5 -4.5 6\n vertex 17.8512 -1.86727 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 17.3823 -1.89635 6\n vertex 29.5 -4.5 6\n vertex 17.6177 -1.89635 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 -4.5 6\n vertex 17.3823 -1.89635 6\n vertex 17.1488 -1.86727 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 5.05857 -0.0411959 6\n vertex 15.6201 -0.275687 6\n vertex 15.6004 -0.0411959 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 5.05857 -0.0411959 6\n vertex 15.6686 -0.50595 6\n vertex 15.6201 -0.275687 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 5.05857 -0.0411959 6\n vertex 15.7452 -0.728453 6\n vertex 15.6686 -0.50595 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 5.05857 -0.0411959 6\n vertex 15.8487 -0.939781 6\n vertex 15.7452 -0.728453 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 5.05857 -0.0411959 6\n vertex 15.9775 -1.13669 6\n vertex 15.8487 -0.939781 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 5.05857 -0.0411959 6\n vertex 16.1297 -1.31617 6\n vertex 15.9775 -1.13669 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 5.05857 -0.0411959 6\n vertex 16.3029 -1.47546 6\n vertex 16.1297 -1.31617 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 4.5993 -0.312426 6\n vertex 16.3029 -1.47546 6\n vertex 5.05857 -0.0411959 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 -4.5 6\n vertex 16.3029 -1.47546 6\n vertex 4.5993 -0.312426 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 16.3029 -1.47546 6\n vertex 0 -4.5 6\n vertex 16.4945 -1.61212 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 16.4945 -1.61212 6\n vertex 0 -4.5 6\n vertex 16.7015 -1.72405 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 16.7015 -1.72405 6\n vertex 0 -4.5 6\n vertex 16.9207 -1.80954 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 16.9207 -1.80954 6\n vertex 0 -4.5 6\n vertex 17.1488 -1.86727 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 -4.5 6\n vertex 4.5993 -0.312426 6\n vertex 4.12553 -0.557453 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 -4.5 6\n vertex 4.12553 -0.557453 6\n vertex 3.63875 -0.775504 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 -4.5 6\n vertex 3.63875 -0.775504 6\n vertex 3.14051 -0.965892 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 -4.5 6\n vertex 3.14051 -0.965892 6\n vertex 2.63236 -1.12802 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 -4.5 6\n vertex 2.63236 -1.12802 6\n vertex 2.11591 -1.26137 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 -4.5 6\n vertex 2.11591 -1.26137 6\n vertex 1.5928 -1.36552 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 -4.5 6\n vertex 1.5928 -1.36552 6\n vertex 1.06466 -1.44015 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 -4.5 6\n vertex 1.06466 -1.44015 6\n vertex 0.533173 -1.48503 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 -4.5 6\n vertex 0.533173 -1.48503 6\n vertex 0 -1.5 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 17.3823 -1.89635 6\n vertex 0 -4.5 6\n vertex 29.5 -4.5 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -0.533173 -1.48503 6\n vertex 0 -4.5 6\n vertex 0 -1.5 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -1.06466 -1.44015 6\n vertex 0 -4.5 6\n vertex -0.533173 -1.48503 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -1.5928 -1.36552 6\n vertex 0 -4.5 6\n vertex -1.06466 -1.44015 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -2.11591 -1.26137 6\n vertex 0 -4.5 6\n vertex -1.5928 -1.36552 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -2.63236 -1.12802 6\n vertex 0 -4.5 6\n vertex -2.11591 -1.26137 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3.14051 -0.965892 6\n vertex 0 -4.5 6\n vertex -2.63236 -1.12802 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3.63875 -0.775504 6\n vertex 0 -4.5 6\n vertex -3.14051 -0.965892 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.12553 -0.557453 6\n vertex 0 -4.5 6\n vertex -3.63875 -0.775504 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.5993 -0.312426 6\n vertex 0 -4.5 6\n vertex -4.12553 -0.557453 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -16.3029 -1.47546 6\n vertex -4.5993 -0.312426 6\n vertex -5.05857 -0.0411959 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -15.6201 -0.275687 6\n vertex -5.05857 -0.0411959 6\n vertex -15.6004 -0.0411959 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -15.6686 -0.50595 6\n vertex -5.05857 -0.0411959 6\n vertex -15.6201 -0.275687 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -15.7452 -0.728453 6\n vertex -5.05857 -0.0411959 6\n vertex -15.6686 -0.50595 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -15.8487 -0.939781 6\n vertex -5.05857 -0.0411959 6\n vertex -15.7452 -0.728453 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -15.9775 -1.13669 6\n vertex -5.05857 -0.0411959 6\n vertex -15.8487 -0.939781 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -16.1297 -1.31617 6\n vertex -5.05857 -0.0411959 6\n vertex -15.9775 -1.13669 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -16.3029 -1.47546 6\n vertex -5.05857 -0.0411959 6\n vertex -16.1297 -1.31617 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.5993 -0.312426 6\n vertex -16.3029 -1.47546 6\n vertex 0 -4.5 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -16.4945 -1.61212 6\n vertex 0 -4.5 6\n vertex -16.3029 -1.47546 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -16.7015 -1.72405 6\n vertex 0 -4.5 6\n vertex -16.4945 -1.61212 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -16.9207 -1.80954 6\n vertex 0 -4.5 6\n vertex -16.7015 -1.72405 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -17.1488 -1.86727 6\n vertex 0 -4.5 6\n vertex -16.9207 -1.80954 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -17.3823 -1.89635 6\n vertex 0 -4.5 6\n vertex -17.1488 -1.86727 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -29.5 -4.5 6\n vertex -17.3823 -1.89635 6\n vertex -17.6177 -1.89635 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -29.5 -4.5 6\n vertex -17.6177 -1.89635 6\n vertex -17.8512 -1.86727 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -17.3823 -1.89635 6\n vertex -29.5 -4.5 6\n vertex 0 -4.5 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -18.0793 -1.80954 6\n vertex -29.5 -4.5 6\n vertex -17.8512 -1.86727 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -18.2985 -1.72405 6\n vertex -29.5 -4.5 6\n vertex -18.0793 -1.80954 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -18.5055 -1.61212 6\n vertex -29.5 -4.5 6\n vertex -18.2985 -1.72405 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -18.6971 -1.47546 6\n vertex -29.5 -4.5 6\n vertex -18.5055 -1.61212 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -18.8703 -1.31617 6\n vertex -29.5 -4.5 6\n vertex -18.6971 -1.47546 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -19.0225 -1.13669 6\n vertex -29.5 -4.5 6\n vertex -18.8703 -1.31617 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -19.1513 -0.939781 6\n vertex -29.5 -4.5 6\n vertex -19.0225 -1.13669 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -19.2548 -0.728453 6\n vertex -29.5 -4.5 6\n vertex -19.1513 -0.939781 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -19.3314 -0.50595 6\n vertex -29.5 -4.5 6\n vertex -19.2548 -0.728453 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -30 -0.0411959 6\n vertex -19.3314 -0.50595 6\n vertex -19.3799 -0.275687 6\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -30 -0.0411959 6\n vertex -19.3799 -0.275687 6\n vertex -19.3996 -0.0411959 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -19.3314 -0.50595 6\n vertex -30 -0.0411959 6\n vertex -29.5 -4.5 6\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -29.5 -4.5 6\n vertex -30 -0.0411959 6\n vertex -30 -5.0412 6\n endloop\n endfacet\n facet normal -0.705153 0.0427118 0.707767\n outer loop\n vertex -12.3655 -19.2865 10\n vertex -12.85 -19 9.5\n vertex -12.8657 -19.2592 9.5\n endloop\n endfacet\n facet normal -0.699151 0.114797 0.705698\n outer loop\n vertex -12.412 -19.5697 10\n vertex -12.3655 -19.2865 10\n vertex -12.8657 -19.2592 9.5\n endloop\n endfacet\n facet normal -0.693954 0.127211 0.708692\n outer loop\n vertex -12.412 -19.5697 10\n vertex -12.8657 -19.2592 9.5\n vertex -12.9125 -19.5145 9.5\n endloop\n endfacet\n facet normal -0.683382 0.189636 0.705001\n outer loop\n vertex -12.4887 -19.8461 10\n vertex -12.412 -19.5697 10\n vertex -12.9125 -19.5145 9.5\n endloop\n endfacet\n facet normal -0.672951 0.209568 0.709379\n outer loop\n vertex -12.4887 -19.8461 10\n vertex -12.9125 -19.5145 9.5\n vertex -12.9897 -19.7624 9.5\n endloop\n endfacet\n facet normal -0.64234 0.289161 0.709778\n outer loop\n vertex -12.5949 -20.1127 10\n vertex -12.9897 -19.7624 9.5\n vertex -13.0963 -19.9992 9.5\n endloop\n endfacet\n facet normal -0.6027 0.364442 0.709883\n outer loop\n vertex -12.7293 -20.3662 10\n vertex -13.0963 -19.9992 9.5\n vertex -13.2306 -20.2213 9.5\n endloop\n endfacet\n facet normal -0.554659 0.434447 0.709655\n outer loop\n vertex -12.8904 -20.6037 10\n vertex -13.2306 -20.2213 9.5\n vertex -13.3907 -20.4257 9.5\n endloop\n endfacet\n facet normal -0.49852 0.49852 0.709194\n outer loop\n vertex -13.0761 -20.8224 10\n vertex -13.3907 -20.4257 9.5\n vertex -13.5743 -20.6093 9.5\n endloop\n endfacet\n facet normal -0.435218 0.555643 0.708411\n outer loop\n vertex -13.2844 -21.0197 10\n vertex -13.5743 -20.6093 9.5\n vertex -13.7787 -20.7694 9.5\n endloop\n endfacet\n facet normal -0.365753 0.604867 0.707362\n outer loop\n vertex -13.5129 -21.1934 10\n vertex -13.7787 -20.7694 9.5\n vertex -14.0008 -20.9037 9.5\n endloop\n endfacet\n facet normal -0.297312 0.64249 0.706266\n outer loop\n vertex -13.7587 -21.3413 10\n vertex -14.0008 -20.9037 9.5\n vertex -14.0191 -21.4618 10\n endloop\n endfacet\n facet normal -0.364646 0.606018 0.706948\n outer loop\n vertex -13.7587 -21.3413 10\n vertex -13.5129 -21.1934 10\n vertex -14.0008 -20.9037 9.5\n endloop\n endfacet\n facet normal -0.659271 0.26262 0.704552\n outer loop\n vertex -12.5949 -20.1127 10\n vertex -12.4887 -19.8461 10\n vertex -12.9897 -19.7624 9.5\n endloop\n endfacet\n facet normal -0.62714 0.332496 0.704373\n outer loop\n vertex -12.7293 -20.3662 10\n vertex -12.5949 -20.1127 10\n vertex -13.0963 -19.9992 9.5\n endloop\n endfacet\n facet normal -0.587409 0.398449 0.704407\n outer loop\n vertex -12.8904 -20.6037 10\n vertex -12.7293 -20.3662 10\n vertex -13.2306 -20.2213 9.5\n endloop\n endfacet\n facet normal -0.540858 0.459247 0.704674\n outer loop\n vertex -13.0761 -20.8224 10\n vertex -12.8904 -20.6037 10\n vertex -13.3907 -20.4257 9.5\n endloop\n endfacet\n facet normal -0.487568 0.514752 0.7052\n outer loop\n vertex -13.2844 -21.0197 10\n vertex -13.0761 -20.8224 10\n vertex -13.5743 -20.6093 9.5\n endloop\n endfacet\n facet normal -0.428607 0.563826 0.705972\n outer loop\n vertex -13.5129 -21.1934 10\n vertex -13.2844 -21.0197 10\n vertex -13.7787 -20.7694 9.5\n endloop\n endfacet\n facet normal -0.289856 0.643884 0.708094\n outer loop\n vertex -14.0191 -21.4618 10\n vertex -14.0008 -20.9037 9.5\n vertex -14.2376 -21.0103 9.5\n endloop\n endfacet\n facet normal -0.226285 0.671692 0.705425\n outer loop\n vertex -14.0191 -21.4618 10\n vertex -14.2376 -21.0103 9.5\n vertex -14.291 -21.5534 10\n endloop\n endfacet\n facet normal -0.209687 0.673334 0.70898\n outer loop\n vertex -14.291 -21.5534 10\n vertex -14.2376 -21.0103 9.5\n vertex -14.4855 -21.0875 9.5\n endloop\n endfacet\n facet normal -0.127055 0.6931 0.709556\n outer loop\n vertex -14.5713 -21.6151 10\n vertex -14.4855 -21.0875 9.5\n vertex -14.7408 -21.1343 9.5\n endloop\n endfacet\n facet normal -0.0425867 0.703088 0.709826\n outer loop\n vertex -14.8565 -21.6461 10\n vertex -14.7408 -21.1343 9.5\n vertex -15 -21.15 9.5\n endloop\n endfacet\n facet normal 0.0425867 0.703088 0.709826\n outer loop\n vertex -15.1435 -21.6461 10\n vertex -15 -21.15 9.5\n vertex -15.2592 -21.1343 9.5\n endloop\n endfacet\n facet normal 0.127055 0.6931 0.709556\n outer loop\n vertex -15.4287 -21.6151 10\n vertex -15.2592 -21.1343 9.5\n vertex -15.5145 -21.0875 9.5\n endloop\n endfacet\n facet normal 0.209687 0.673334 0.70898\n outer loop\n vertex -15.709 -21.5534 10\n vertex -15.5145 -21.0875 9.5\n vertex -15.7624 -21.0103 9.5\n endloop\n endfacet\n facet normal 0.289856 0.643884 0.708094\n outer loop\n vertex -15.9809 -21.4618 10\n vertex -15.7624 -21.0103 9.5\n vertex -15.9992 -20.9037 9.5\n endloop\n endfacet\n facet normal 0.364646 0.606018 0.706948\n outer loop\n vertex -16.2413 -21.3413 10\n vertex -15.9992 -20.9037 9.5\n vertex -16.4871 -21.1934 10\n endloop\n endfacet\n facet normal 0.297312 0.64249 0.706266\n outer loop\n vertex -15.9809 -21.4618 10\n vertex -15.9992 -20.9037 9.5\n vertex -16.2413 -21.3413 10\n endloop\n endfacet\n facet normal -0.152494 0.692774 0.704847\n outer loop\n vertex -14.291 -21.5534 10\n vertex -14.4855 -21.0875 9.5\n vertex -14.5713 -21.6151 10\n endloop\n endfacet\n facet normal -0.0766926 0.705572 0.704476\n outer loop\n vertex -14.5713 -21.6151 10\n vertex -14.7408 -21.1343 9.5\n vertex -14.8565 -21.6461 10\n endloop\n endfacet\n facet normal 0 0.70987 0.704333\n outer loop\n vertex -14.8565 -21.6461 10\n vertex -15 -21.15 9.5\n vertex -15.1435 -21.6461 10\n endloop\n endfacet\n facet normal 0.0766926 0.705572 0.704476\n outer loop\n vertex -15.1435 -21.6461 10\n vertex -15.2592 -21.1343 9.5\n vertex -15.4287 -21.6151 10\n endloop\n endfacet\n facet normal 0.152494 0.692774 0.704847\n outer loop\n vertex -15.4287 -21.6151 10\n vertex -15.5145 -21.0875 9.5\n vertex -15.709 -21.5534 10\n endloop\n endfacet\n facet normal 0.226285 0.671692 0.705425\n outer loop\n vertex -15.709 -21.5534 10\n vertex -15.7624 -21.0103 9.5\n vertex -15.9809 -21.4618 10\n endloop\n endfacet\n facet normal 0.365753 0.604867 0.707362\n outer loop\n vertex -15.9992 -20.9037 9.5\n vertex -16.2213 -20.7694 9.5\n vertex -16.4871 -21.1934 10\n endloop\n endfacet\n facet normal 0.428607 0.563826 0.705972\n outer loop\n vertex -16.4871 -21.1934 10\n vertex -16.2213 -20.7694 9.5\n vertex -16.7156 -21.0197 10\n endloop\n endfacet\n facet normal 0.435218 0.555643 0.708411\n outer loop\n vertex -16.2213 -20.7694 9.5\n vertex -16.4257 -20.6093 9.5\n vertex -16.7156 -21.0197 10\n endloop\n endfacet\n facet normal 0.49852 0.49852 0.709194\n outer loop\n vertex -16.4257 -20.6093 9.5\n vertex -16.6093 -20.4257 9.5\n vertex -16.9239 -20.8224 10\n endloop\n endfacet\n facet normal 0.554659 0.434447 0.709655\n outer loop\n vertex -16.6093 -20.4257 9.5\n vertex -16.7694 -20.2213 9.5\n vertex -17.1096 -20.6037 10\n endloop\n endfacet\n facet normal 0.6027 0.364442 0.709883\n outer loop\n vertex -16.7694 -20.2213 9.5\n vertex -16.9037 -19.9992 9.5\n vertex -17.2707 -20.3662 10\n endloop\n endfacet\n facet normal 0.64234 0.289161 0.709778\n outer loop\n vertex -16.9037 -19.9992 9.5\n vertex -17.0103 -19.7624 9.5\n vertex -17.4051 -20.1127 10\n endloop\n endfacet\n facet normal 0.672951 0.209568 0.709379\n outer loop\n vertex -17.0103 -19.7624 9.5\n vertex -17.0875 -19.5145 9.5\n vertex -17.5113 -19.8461 10\n endloop\n endfacet\n facet normal 0.693954 0.127211 0.708692\n outer loop\n vertex -17.0875 -19.5145 9.5\n vertex -17.1343 -19.2592 9.5\n vertex -17.588 -19.5697 10\n endloop\n endfacet\n facet normal 0.705153 0.0427118 0.707767\n outer loop\n vertex -17.1343 -19.2592 9.5\n vertex -17.15 -19 9.5\n vertex -17.6345 -19.2865 10\n endloop\n endfacet\n facet normal 0.70659 -0.0382274 0.70659\n outer loop\n vertex -17.15 -19 9.5\n vertex -17.6345 -18.7135 10\n vertex -17.65 -19 10\n endloop\n endfacet\n facet normal 0.70659 0.0382274 0.70659\n outer loop\n vertex -17.6345 -19.2865 10\n vertex -17.15 -19 9.5\n vertex -17.65 -19 10\n endloop\n endfacet\n facet normal 0.487568 0.514752 0.7052\n outer loop\n vertex -16.7156 -21.0197 10\n vertex -16.4257 -20.6093 9.5\n vertex -16.9239 -20.8224 10\n endloop\n endfacet\n facet normal 0.540858 0.459247 0.704674\n outer loop\n vertex -16.9239 -20.8224 10\n vertex -16.6093 -20.4257 9.5\n vertex -17.1096 -20.6037 10\n endloop\n endfacet\n facet normal 0.587409 0.398449 0.704407\n outer loop\n vertex -17.1096 -20.6037 10\n vertex -16.7694 -20.2213 9.5\n vertex -17.2707 -20.3662 10\n endloop\n endfacet\n facet normal 0.62714 0.332496 0.704373\n outer loop\n vertex -17.2707 -20.3662 10\n vertex -16.9037 -19.9992 9.5\n vertex -17.4051 -20.1127 10\n endloop\n endfacet\n facet normal 0.659271 0.26262 0.704552\n outer loop\n vertex -17.4051 -20.1127 10\n vertex -17.0103 -19.7624 9.5\n vertex -17.5113 -19.8461 10\n endloop\n endfacet\n facet normal 0.683382 0.189636 0.705001\n outer loop\n vertex -17.5113 -19.8461 10\n vertex -17.0875 -19.5145 9.5\n vertex -17.588 -19.5697 10\n endloop\n endfacet\n facet normal 0.699151 0.114797 0.705698\n outer loop\n vertex -17.588 -19.5697 10\n vertex -17.1343 -19.2592 9.5\n vertex -17.6345 -19.2865 10\n endloop\n endfacet\n facet normal 0.705153 -0.0427118 0.707767\n outer loop\n vertex -17.15 -19 9.5\n vertex -17.1343 -18.7408 9.5\n vertex -17.6345 -18.7135 10\n endloop\n endfacet\n facet normal 0.699151 -0.114797 0.705698\n outer loop\n vertex -17.1343 -18.7408 9.5\n vertex -17.588 -18.4303 10\n vertex -17.6345 -18.7135 10\n endloop\n endfacet\n facet normal 0.693954 -0.127211 0.708692\n outer loop\n vertex -17.1343 -18.7408 9.5\n vertex -17.0875 -18.4855 9.5\n vertex -17.588 -18.4303 10\n endloop\n endfacet\n facet normal 0.672951 -0.209568 0.709379\n outer loop\n vertex -17.0875 -18.4855 9.5\n vertex -17.0103 -18.2376 9.5\n vertex -17.5113 -18.1539 10\n endloop\n endfacet\n facet normal 0.64234 -0.289161 0.709778\n outer loop\n vertex -17.0103 -18.2376 9.5\n vertex -16.9037 -18.0008 9.5\n vertex -17.4051 -17.8873 10\n endloop\n endfacet\n facet normal 0.6027 -0.364442 0.709883\n outer loop\n vertex -16.9037 -18.0008 9.5\n vertex -16.7694 -17.7787 9.5\n vertex -17.2707 -17.6338 10\n endloop\n endfacet\n facet normal 0.554659 -0.434447 0.709655\n outer loop\n vertex -16.7694 -17.7787 9.5\n vertex -16.6093 -17.5743 9.5\n vertex -17.1096 -17.3963 10\n endloop\n endfacet\n facet normal 0.49852 -0.49852 0.709194\n outer loop\n vertex -16.6093 -17.5743 9.5\n vertex -16.4257 -17.3907 9.5\n vertex -16.9239 -17.1776 10\n endloop\n endfacet\n facet normal 0.435218 -0.555643 0.708411\n outer loop\n vertex -16.4257 -17.3907 9.5\n vertex -16.2213 -17.2306 9.5\n vertex -16.7156 -16.9803 10\n endloop\n endfacet\n facet normal 0.365753 -0.604867 0.707362\n outer loop\n vertex -16.2213 -17.2306 9.5\n vertex -15.9992 -17.0963 9.5\n vertex -16.4871 -16.8066 10\n endloop\n endfacet\n facet normal 0.297312 -0.64249 0.706266\n outer loop\n vertex -15.9992 -17.0963 9.5\n vertex -15.9809 -16.5382 10\n vertex -16.2413 -16.6587 10\n endloop\n endfacet\n facet normal 0.364646 -0.606018 0.706948\n outer loop\n vertex -15.9992 -17.0963 9.5\n vertex -16.2413 -16.6587 10\n vertex -16.4871 -16.8066 10\n endloop\n endfacet\n facet normal 0.683382 -0.189636 0.705001\n outer loop\n vertex -17.0875 -18.4855 9.5\n vertex -17.5113 -18.1539 10\n vertex -17.588 -18.4303 10\n endloop\n endfacet\n facet normal 0.659271 -0.26262 0.704552\n outer loop\n vertex -17.0103 -18.2376 9.5\n vertex -17.4051 -17.8873 10\n vertex -17.5113 -18.1539 10\n endloop\n endfacet\n facet normal 0.62714 -0.332496 0.704373\n outer loop\n vertex -16.9037 -18.0008 9.5\n vertex -17.2707 -17.6338 10\n vertex -17.4051 -17.8873 10\n endloop\n endfacet\n facet normal 0.587409 -0.398449 0.704407\n outer loop\n vertex -16.7694 -17.7787 9.5\n vertex -17.1096 -17.3963 10\n vertex -17.2707 -17.6338 10\n endloop\n endfacet\n facet normal 0.540858 -0.459247 0.704674\n outer loop\n vertex -16.6093 -17.5743 9.5\n vertex -16.9239 -17.1776 10\n vertex -17.1096 -17.3963 10\n endloop\n endfacet\n facet normal 0.487568 -0.514752 0.7052\n outer loop\n vertex -16.4257 -17.3907 9.5\n vertex -16.7156 -16.9803 10\n vertex -16.9239 -17.1776 10\n endloop\n endfacet\n facet normal 0.428607 -0.563826 0.705972\n outer loop\n vertex -16.2213 -17.2306 9.5\n vertex -16.4871 -16.8066 10\n vertex -16.7156 -16.9803 10\n endloop\n endfacet\n facet normal 0.289856 -0.643884 0.708094\n outer loop\n vertex -15.7624 -16.9897 9.5\n vertex -15.9809 -16.5382 10\n vertex -15.9992 -17.0963 9.5\n endloop\n endfacet\n facet normal 0.226285 -0.671692 0.705425\n outer loop\n vertex -15.7624 -16.9897 9.5\n vertex -15.709 -16.4466 10\n vertex -15.9809 -16.5382 10\n endloop\n endfacet\n facet normal 0.209687 -0.673334 0.70898\n outer loop\n vertex -15.5145 -16.9125 9.5\n vertex -15.709 -16.4466 10\n vertex -15.7624 -16.9897 9.5\n endloop\n endfacet\n facet normal 0.127055 -0.6931 0.709556\n outer loop\n vertex -15.2592 -16.8657 9.5\n vertex -15.4287 -16.3849 10\n vertex -15.5145 -16.9125 9.5\n endloop\n endfacet\n facet normal 0.0425867 -0.703088 0.709826\n outer loop\n vertex -15 -16.85 9.5\n vertex -15.1435 -16.3539 10\n vertex -15.2592 -16.8657 9.5\n endloop\n endfacet\n facet normal -0.0425867 -0.703088 0.709826\n outer loop\n vertex -14.7408 -16.8657 9.5\n vertex -14.8565 -16.3539 10\n vertex -15 -16.85 9.5\n endloop\n endfacet\n facet normal -0.127055 -0.6931 0.709556\n outer loop\n vertex -14.4855 -16.9125 9.5\n vertex -14.5713 -16.3849 10\n vertex -14.7408 -16.8657 9.5\n endloop\n endfacet\n facet normal -0.209687 -0.673334 0.70898\n outer loop\n vertex -14.2376 -16.9897 9.5\n vertex -14.291 -16.4466 10\n vertex -14.4855 -16.9125 9.5\n endloop\n endfacet\n facet normal -0.289856 -0.643884 0.708094\n outer loop\n vertex -14.0008 -17.0963 9.5\n vertex -14.0191 -16.5382 10\n vertex -14.2376 -16.9897 9.5\n endloop\n endfacet\n facet normal -0.364646 -0.606018 0.706948\n outer loop\n vertex -13.5129 -16.8066 10\n vertex -13.7587 -16.6587 10\n vertex -14.0008 -17.0963 9.5\n endloop\n endfacet\n facet normal -0.297312 -0.64249 0.706266\n outer loop\n vertex -14.0008 -17.0963 9.5\n vertex -13.7587 -16.6587 10\n vertex -14.0191 -16.5382 10\n endloop\n endfacet\n facet normal 0.152494 -0.692774 0.704847\n outer loop\n vertex -15.5145 -16.9125 9.5\n vertex -15.4287 -16.3849 10\n vertex -15.709 -16.4466 10\n endloop\n endfacet\n facet normal 0.0766926 -0.705572 0.704476\n outer loop\n vertex -15.2592 -16.8657 9.5\n vertex -15.1435 -16.3539 10\n vertex -15.4287 -16.3849 10\n endloop\n endfacet\n facet normal 0 -0.70987 0.704333\n outer loop\n vertex -15 -16.85 9.5\n vertex -14.8565 -16.3539 10\n vertex -15.1435 -16.3539 10\n endloop\n endfacet\n facet normal -0.0766926 -0.705572 0.704476\n outer loop\n vertex -14.7408 -16.8657 9.5\n vertex -14.5713 -16.3849 10\n vertex -14.8565 -16.3539 10\n endloop\n endfacet\n facet normal -0.152494 -0.692774 0.704847\n outer loop\n vertex -14.4855 -16.9125 9.5\n vertex -14.291 -16.4466 10\n vertex -14.5713 -16.3849 10\n endloop\n endfacet\n facet normal -0.226285 -0.671692 0.705425\n outer loop\n vertex -14.2376 -16.9897 9.5\n vertex -14.0191 -16.5382 10\n vertex -14.291 -16.4466 10\n endloop\n endfacet\n facet normal -0.365753 -0.604867 0.707362\n outer loop\n vertex -13.7787 -17.2306 9.5\n vertex -13.5129 -16.8066 10\n vertex -14.0008 -17.0963 9.5\n endloop\n endfacet\n facet normal -0.428607 -0.563826 0.705972\n outer loop\n vertex -13.2844 -16.9803 10\n vertex -13.5129 -16.8066 10\n vertex -13.7787 -17.2306 9.5\n endloop\n endfacet\n facet normal -0.435218 -0.555643 0.708411\n outer loop\n vertex -13.5743 -17.3907 9.5\n vertex -13.2844 -16.9803 10\n vertex -13.7787 -17.2306 9.5\n endloop\n endfacet\n facet normal -0.49852 -0.49852 0.709194\n outer loop\n vertex -13.3907 -17.5743 9.5\n vertex -13.0761 -17.1776 10\n vertex -13.5743 -17.3907 9.5\n endloop\n endfacet\n facet normal -0.554659 -0.434447 0.709655\n outer loop\n vertex -13.2306 -17.7787 9.5\n vertex -12.8904 -17.3963 10\n vertex -13.3907 -17.5743 9.5\n endloop\n endfacet\n facet normal -0.6027 -0.364442 0.709883\n outer loop\n vertex -13.0963 -18.0008 9.5\n vertex -12.7293 -17.6338 10\n vertex -13.2306 -17.7787 9.5\n endloop\n endfacet\n facet normal -0.64234 -0.289161 0.709778\n outer loop\n vertex -12.9897 -18.2376 9.5\n vertex -12.5949 -17.8873 10\n vertex -13.0963 -18.0008 9.5\n endloop\n endfacet\n facet normal -0.672951 -0.209568 0.709379\n outer loop\n vertex -12.9125 -18.4855 9.5\n vertex -12.4887 -18.1539 10\n vertex -12.9897 -18.2376 9.5\n endloop\n endfacet\n facet normal -0.693954 -0.127211 0.708692\n outer loop\n vertex -12.8657 -18.7408 9.5\n vertex -12.412 -18.4303 10\n vertex -12.9125 -18.4855 9.5\n endloop\n endfacet\n facet normal -0.705153 -0.0427118 0.707767\n outer loop\n vertex -12.85 -19 9.5\n vertex -12.3655 -18.7135 10\n vertex -12.8657 -18.7408 9.5\n endloop\n endfacet\n facet normal -0.70659 0.0382274 0.70659\n outer loop\n vertex -12.3655 -19.2865 10\n vertex -12.35 -19 10\n vertex -12.85 -19 9.5\n endloop\n endfacet\n facet normal -0.70659 -0.0382274 0.70659\n outer loop\n vertex -12.35 -19 10\n vertex -12.3655 -18.7135 10\n vertex -12.85 -19 9.5\n endloop\n endfacet\n facet normal -0.487568 -0.514752 0.7052\n outer loop\n vertex -13.0761 -17.1776 10\n vertex -13.2844 -16.9803 10\n vertex -13.5743 -17.3907 9.5\n endloop\n endfacet\n facet normal -0.540858 -0.459247 0.704674\n outer loop\n vertex -12.8904 -17.3963 10\n vertex -13.0761 -17.1776 10\n vertex -13.3907 -17.5743 9.5\n endloop\n endfacet\n facet normal -0.587409 -0.398449 0.704407\n outer loop\n vertex -12.7293 -17.6338 10\n vertex -12.8904 -17.3963 10\n vertex -13.2306 -17.7787 9.5\n endloop\n endfacet\n facet normal -0.62714 -0.332496 0.704373\n outer loop\n vertex -12.5949 -17.8873 10\n vertex -12.7293 -17.6338 10\n vertex -13.0963 -18.0008 9.5\n endloop\n endfacet\n facet normal -0.659271 -0.26262 0.704552\n outer loop\n vertex -12.4887 -18.1539 10\n vertex -12.5949 -17.8873 10\n vertex -12.9897 -18.2376 9.5\n endloop\n endfacet\n facet normal -0.683382 -0.189636 0.705001\n outer loop\n vertex -12.412 -18.4303 10\n vertex -12.4887 -18.1539 10\n vertex -12.9125 -18.4855 9.5\n endloop\n endfacet\n facet normal -0.699151 -0.114797 0.705698\n outer loop\n vertex -12.3655 -18.7135 10\n vertex -12.412 -18.4303 10\n vertex -12.8657 -18.7408 9.5\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -2.63447 -18.7135 10\n vertex -12.3655 -18.7135 10\n vertex -12.35 -19 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -6.63493 -3.17934 10\n vertex -12.412 -18.4303 10\n vertex -12.3655 -18.7135 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -6.63493 -3.17934 10\n vertex -12.4887 -18.1539 10\n vertex -12.412 -18.4303 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -6.63493 -3.17934 10\n vertex -12.5949 -17.8873 10\n vertex -12.4887 -18.1539 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -6.63493 -3.17934 10\n vertex -12.7293 -17.6338 10\n vertex -12.5949 -17.8873 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -6.63493 -3.17934 10\n vertex -12.8904 -17.3963 10\n vertex -12.7293 -17.6338 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -6.63493 -3.17934 10\n vertex -13.0761 -17.1776 10\n vertex -12.8904 -17.3963 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -6.63493 -3.17934 10\n vertex -13.2844 -16.9803 10\n vertex -13.0761 -17.1776 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -6.63493 -3.17934 10\n vertex -13.5129 -16.8066 10\n vertex -13.2844 -16.9803 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -6.63493 -3.17934 10\n vertex -13.7587 -16.6587 10\n vertex -13.5129 -16.8066 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -6.63493 -3.17934 10\n vertex -14.0191 -16.5382 10\n vertex -13.7587 -16.6587 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7.17121 -2.84315 10\n vertex -14.291 -16.4466 10\n vertex -14.0191 -16.5382 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7.17121 -2.84315 10\n vertex -14.5713 -16.3849 10\n vertex -14.291 -16.4466 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7.17121 -2.84315 10\n vertex -14.8565 -16.3539 10\n vertex -14.5713 -16.3849 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7.17121 -2.84315 10\n vertex -15.1435 -16.3539 10\n vertex -14.8565 -16.3539 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7.17121 -2.84315 10\n vertex -15.4287 -16.3849 10\n vertex -15.1435 -16.3539 10\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -22.6109 -14.5251 10\n vertex -15.4287 -16.3849 10\n vertex -7.17121 -2.84315 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -15.4287 -16.3849 10\n vertex -22.6109 -14.5251 10\n vertex -15.709 -16.4466 10\n endloop\n endfacet\n facet normal -0 -0 1\n outer loop\n vertex -22.3434 -14.8125 10\n vertex -15.709 -16.4466 10\n vertex -22.6109 -14.5251 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -15.709 -16.4466 10\n vertex -22.3434 -14.8125 10\n vertex -15.9809 -16.5382 10\n endloop\n endfacet\n facet normal -0 -0 1\n outer loop\n vertex -22.097 -15.1182 10\n vertex -15.9809 -16.5382 10\n vertex -22.3434 -14.8125 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -15.9809 -16.5382 10\n vertex -22.097 -15.1182 10\n vertex -16.2413 -16.6587 10\n endloop\n endfacet\n facet normal -0 -0 1\n outer loop\n vertex -21.8731 -15.4407 10\n vertex -16.2413 -16.6587 10\n vertex -22.097 -15.1182 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -21 -18.4142 10\n vertex -17.65 -19 10\n vertex -17.6345 -18.7135 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -17.65 -19 10\n vertex -21 -18.4142 10\n vertex -21 -21.7929 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -17.588 -18.4303 10\n vertex -21 -18.4142 10\n vertex -17.6345 -18.7135 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -21.014 -18.0218 10\n vertex -17.588 -18.4303 10\n vertex -17.5113 -18.1539 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -21.056 -17.6315 10\n vertex -17.5113 -18.1539 10\n vertex -17.4051 -17.8873 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -21.1257 -17.2451 10\n vertex -17.4051 -17.8873 10\n vertex -17.2707 -17.6338 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -21.2228 -16.8647 10\n vertex -17.2707 -17.6338 10\n vertex -17.1096 -17.3963 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -16.2413 -16.6587 10\n vertex -21.8731 -15.4407 10\n vertex -16.4871 -16.8066 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -17.588 -18.4303 10\n vertex -21.014 -18.0218 10\n vertex -21 -18.4142 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -17.5113 -18.1539 10\n vertex -21.056 -17.6315 10\n vertex -21.014 -18.0218 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -17.4051 -17.8873 10\n vertex -21.1257 -17.2451 10\n vertex -21.056 -17.6315 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -17.2707 -17.6338 10\n vertex -21.2228 -16.8647 10\n vertex -21.1257 -17.2451 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -17.1096 -17.3963 10\n vertex -21.3468 -16.4922 10\n vertex -21.2228 -16.8647 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -16.9239 -17.1776 10\n vertex -21.3468 -16.4922 10\n vertex -17.1096 -17.3963 10\n endloop\n endfacet\n facet normal -0 -0 1\n outer loop\n vertex -21.3468 -16.4922 10\n vertex -16.9239 -17.1776 10\n vertex -21.497 -16.1294 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -16.7156 -16.9803 10\n vertex -21.497 -16.1294 10\n vertex -16.9239 -17.1776 10\n endloop\n endfacet\n facet normal -0 -0 1\n outer loop\n vertex -21.497 -16.1294 10\n vertex -16.7156 -16.9803 10\n vertex -21.6728 -15.7783 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -16.4871 -16.8066 10\n vertex -21.6728 -15.7783 10\n vertex -16.7156 -16.9803 10\n endloop\n endfacet\n facet normal -0 -0 1\n outer loop\n vertex -21.6728 -15.7783 10\n vertex -16.4871 -16.8066 10\n vertex -21.8731 -15.4407 10\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -29.5 -2.84315 10\n vertex -22.6109 -14.5251 10\n vertex -7.17121 -2.84315 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -22.6109 -14.5251 10\n vertex -29.5 -2.84315 10\n vertex -29.5 -7.63604 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -17.65 -19 10\n vertex -21 -21.7929 10\n vertex -18.2929 -24.5 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 12.3655 -18.7135 10\n vertex 2.63447 -18.7135 10\n vertex 2.65 -19 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3.74427 -4.44911 10\n vertex 2.58804 -18.4303 10\n vertex 2.63447 -18.7135 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 1.24128 -16.6587 10\n vertex 3.13388 -4.61661 10\n vertex 2.51607 -4.75419 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3.74427 -4.44911 10\n vertex 2.51128 -18.1539 10\n vertex 2.58804 -18.4303 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3.74427 -4.44911 10\n vertex 2.40507 -17.8873 10\n vertex 2.51128 -18.1539 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3.74427 -4.44911 10\n vertex 2.27067 -17.6338 10\n vertex 2.40507 -17.8873 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3.74427 -4.44911 10\n vertex 2.10965 -17.3963 10\n vertex 2.27067 -17.6338 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3.74427 -4.44911 10\n vertex 1.92389 -17.1776 10\n vertex 2.10965 -17.3963 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0.980865 -16.5382 10\n vertex 2.51607 -4.75419 10\n vertex 1.89229 -4.86154 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3.74427 -4.44911 10\n vertex 1.71557 -16.9803 10\n vertex 1.92389 -17.1776 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3.74427 -4.44911 10\n vertex 1.48715 -16.8066 10\n vertex 1.71557 -16.9803 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0.70895 -16.4466 10\n vertex 1.89229 -4.86154 10\n vertex 1.26402 -4.9384 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3.13388 -4.61661 10\n vertex 1.24128 -16.6587 10\n vertex 1.48715 -16.8066 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 2.51607 -4.75419 10\n vertex 0.980865 -16.5382 10\n vertex 1.24128 -16.6587 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 1.89229 -4.86154 10\n vertex 0.70895 -16.4466 10\n vertex 0.980865 -16.5382 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0.428721 -16.3849 10\n vertex 1.26402 -4.9384 10\n vertex 0.632761 -4.98459 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 1.26402 -4.9384 10\n vertex 0.428721 -16.3849 10\n vertex 0.70895 -16.4466 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0.632761 -4.98459 10\n vertex 0.143468 -16.3539 10\n vertex 0.428721 -16.3849 10\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 0 -5 10\n vertex 0.143468 -16.3539 10\n vertex 0.632761 -4.98459 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 -5 10\n vertex -0.143468 -16.3539 10\n vertex 0.143468 -16.3539 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -0.632761 -4.98459 10\n vertex -0.143468 -16.3539 10\n vertex 0 -5 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -0.143468 -16.3539 10\n vertex -0.632761 -4.98459 10\n vertex -0.428721 -16.3849 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -1.26402 -4.9384 10\n vertex -0.428721 -16.3849 10\n vertex -0.632761 -4.98459 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -0.428721 -16.3849 10\n vertex -1.26402 -4.9384 10\n vertex -0.70895 -16.4466 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -1.89229 -4.86154 10\n vertex -0.70895 -16.4466 10\n vertex -1.26402 -4.9384 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -0.70895 -16.4466 10\n 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9.5\n vertex -0.980865 -16.5382 10\n vertex -1.24128 -16.6587 10\n endloop\n endfacet\n facet normal 0.364564 -0.606054 0.706959\n outer loop\n vertex -0.999154 -17.0963 9.5\n vertex -1.24128 -16.6587 10\n vertex -1.48715 -16.8066 10\n endloop\n endfacet\n facet normal 0.683342 -0.189773 0.705004\n outer loop\n vertex -2.08752 -18.4855 9.5\n vertex -2.51128 -18.1539 10\n vertex -2.58804 -18.4303 10\n endloop\n endfacet\n facet normal 0.659264 -0.262642 0.704549\n outer loop\n vertex -2.01028 -18.2376 9.5\n vertex -2.40507 -17.8873 10\n vertex -2.51128 -18.1539 10\n endloop\n endfacet\n facet normal 0.627174 -0.332513 0.704335\n outer loop\n vertex -1.90373 -18.0008 9.5\n vertex -2.27067 -17.6338 10\n vertex -2.40507 -17.8873 10\n endloop\n endfacet\n facet normal 0.587499 -0.398312 0.70441\n outer loop\n vertex -1.76941 -17.7787 9.5\n vertex -2.10965 -17.3963 10\n vertex -2.27067 -17.6338 10\n endloop\n endfacet\n facet normal 0.54078 -0.459329 0.70468\n outer loop\n vertex -1.6093 -17.5743 9.5\n vertex -1.92389 -17.1776 10\n vertex -2.10965 -17.3963 10\n endloop\n endfacet\n facet normal 0.487556 -0.514787 0.705183\n outer loop\n vertex -1.42571 -17.3907 9.5\n vertex -1.71557 -16.9803 10\n vertex -1.92389 -17.1776 10\n endloop\n endfacet\n facet normal 0.428702 -0.563755 0.705971\n outer loop\n vertex -1.22134 -17.2306 9.5\n vertex -1.48715 -16.8066 10\n vertex -1.71557 -16.9803 10\n endloop\n endfacet\n facet normal 0.289907 -0.643871 0.708085\n outer loop\n vertex -0.7624 -16.9897 9.5\n vertex -0.980865 -16.5382 10\n vertex -0.999154 -17.0963 9.5\n endloop\n endfacet\n facet normal 0.226277 -0.671704 0.705416\n outer loop\n vertex -0.7624 -16.9897 9.5\n vertex -0.70895 -16.4466 10\n vertex -0.980865 -16.5382 10\n endloop\n endfacet\n facet normal 0.209713 -0.673342 0.708965\n outer loop\n vertex -0.514528 -16.9125 9.5\n vertex -0.70895 -16.4466 10\n vertex -0.7624 -16.9897 9.5\n endloop\n endfacet\n facet normal 0.127018 -0.693101 0.709562\n outer loop\n vertex -0.259153 -16.8657 9.5\n vertex -0.428721 -16.3849 10\n vertex -0.514528 -16.9125 9.5\n endloop\n endfacet\n facet normal 0.0425945 -0.703088 0.709826\n outer loop\n vertex 0 -16.85 9.5\n vertex -0.143468 -16.3539 10\n vertex -0.259153 -16.8657 9.5\n endloop\n endfacet\n facet normal -0.0425945 -0.703088 0.709826\n outer loop\n vertex 0.259153 -16.8657 9.5\n vertex 0.143468 -16.3539 10\n vertex 0 -16.85 9.5\n endloop\n endfacet\n facet normal -0.127018 -0.693101 0.709562\n outer loop\n vertex 0.514528 -16.9125 9.5\n vertex 0.428721 -16.3849 10\n vertex 0.259153 -16.8657 9.5\n endloop\n endfacet\n facet normal -0.209713 -0.673342 0.708965\n outer loop\n vertex 0.7624 -16.9897 9.5\n vertex 0.70895 -16.4466 10\n vertex 0.514528 -16.9125 9.5\n endloop\n endfacet\n facet normal -0.289907 -0.643871 0.708085\n outer loop\n vertex 0.999154 -17.0963 9.5\n vertex 0.980865 -16.5382 10\n vertex 0.7624 -16.9897 9.5\n endloop\n endfacet\n facet normal -0.364564 -0.606054 0.706959\n outer loop\n vertex 1.48715 -16.8066 10\n vertex 1.24128 -16.6587 10\n vertex 0.999154 -17.0963 9.5\n endloop\n endfacet\n facet normal -0.297295 -0.64249 0.706273\n outer loop\n vertex 0.999154 -17.0963 9.5\n vertex 1.24128 -16.6587 10\n vertex 0.980865 -16.5382 10\n endloop\n endfacet\n facet normal 0.152533 -0.692774 0.704839\n outer loop\n vertex -0.514528 -16.9125 9.5\n vertex -0.428721 -16.3849 10\n vertex -0.70895 -16.4466 10\n endloop\n endfacet\n facet normal 0.0766781 -0.70557 0.70448\n outer loop\n vertex -0.259153 -16.8657 9.5\n vertex -0.143468 -16.3539 10\n vertex -0.428721 -16.3849 10\n endloop\n endfacet\n facet normal 0 -0.70987 0.704333\n outer loop\n vertex 0 -16.85 9.5\n vertex 0.143468 -16.3539 10\n vertex -0.143468 -16.3539 10\n endloop\n endfacet\n facet normal -0.0766781 -0.70557 0.70448\n outer loop\n vertex 0.259153 -16.8657 9.5\n vertex 0.428721 -16.3849 10\n vertex 0.143468 -16.3539 10\n endloop\n endfacet\n facet normal -0.152533 -0.692774 0.704839\n outer loop\n vertex 0.514528 -16.9125 9.5\n vertex 0.70895 -16.4466 10\n vertex 0.428721 -16.3849 10\n endloop\n endfacet\n facet normal -0.226277 -0.671704 0.705416\n outer loop\n vertex 0.7624 -16.9897 9.5\n vertex 0.980865 -16.5382 10\n vertex 0.70895 -16.4466 10\n endloop\n endfacet\n facet normal -0.365648 -0.604928 0.707364\n outer loop\n vertex 1.22134 -17.2306 9.5\n vertex 1.48715 -16.8066 10\n vertex 0.999154 -17.0963 9.5\n endloop\n endfacet\n facet normal -0.428702 -0.563755 0.705971\n outer loop\n vertex 1.71557 -16.9803 10\n vertex 1.48715 -16.8066 10\n vertex 1.22134 -17.2306 9.5\n endloop\n endfacet\n facet normal -0.435269 -0.555627 0.708393\n outer loop\n vertex 1.42571 -17.3907 9.5\n vertex 1.71557 -16.9803 10\n vertex 1.22134 -17.2306 9.5\n endloop\n endfacet\n facet normal -0.498538 -0.49851 0.709188\n outer loop\n vertex 1.6093 -17.5743 9.5\n vertex 1.92389 -17.1776 10\n vertex 1.42571 -17.3907 9.5\n endloop\n endfacet\n facet normal -0.554627 -0.434449 0.709679\n outer loop\n vertex 1.76941 -17.7787 9.5\n vertex 2.10965 -17.3963 10\n vertex 1.6093 -17.5743 9.5\n endloop\n endfacet\n facet normal -0.602702 -0.364498 0.709853\n outer loop\n vertex 1.90373 -18.0008 9.5\n vertex 2.27067 -17.6338 10\n vertex 1.76941 -17.7787 9.5\n endloop\n endfacet\n facet normal -0.642414 -0.289059 0.709752\n outer loop\n vertex 2.01028 -18.2376 9.5\n vertex 2.40507 -17.8873 10\n vertex 1.90373 -18.0008 9.5\n endloop\n endfacet\n facet normal -0.672927 -0.209669 0.709372\n outer loop\n vertex 2.08752 -18.4855 9.5\n vertex 2.51128 -18.1539 10\n vertex 2.01028 -18.2376 9.5\n endloop\n endfacet\n facet normal -0.693941 -0.127209 0.708706\n outer loop\n vertex 2.13432 -18.7408 9.5\n vertex 2.58804 -18.4303 10\n vertex 2.08752 -18.4855 9.5\n endloop\n endfacet\n facet normal -0.705192 -0.0426597 0.707732\n outer loop\n vertex 2.15 -19 9.5\n vertex 2.63447 -18.7135 10\n vertex 2.13432 -18.7408 9.5\n endloop\n endfacet\n facet normal -0.706588 0.0383013 0.706588\n outer loop\n vertex 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0.707362\n outer loop\n vertex 14.0008 -20.9037 9.5\n vertex 13.7787 -20.7694 9.5\n vertex 13.5129 -21.1934 10\n endloop\n endfacet\n facet normal 0.428607 0.563826 0.705972\n outer loop\n vertex 13.5129 -21.1934 10\n vertex 13.7787 -20.7694 9.5\n vertex 13.2844 -21.0197 10\n endloop\n endfacet\n facet normal 0.435218 0.555643 0.708411\n outer loop\n vertex 13.7787 -20.7694 9.5\n vertex 13.5743 -20.6093 9.5\n vertex 13.2844 -21.0197 10\n endloop\n endfacet\n facet normal 0.49852 0.49852 0.709194\n outer loop\n vertex 13.5743 -20.6093 9.5\n vertex 13.3907 -20.4257 9.5\n vertex 13.0761 -20.8224 10\n endloop\n endfacet\n facet normal 0.554659 0.434447 0.709655\n outer loop\n vertex 13.3907 -20.4257 9.5\n vertex 13.2306 -20.2213 9.5\n vertex 12.8904 -20.6037 10\n endloop\n endfacet\n facet normal 0.6027 0.364442 0.709883\n outer loop\n vertex 13.2306 -20.2213 9.5\n vertex 13.0963 -19.9992 9.5\n vertex 12.7293 -20.3662 10\n endloop\n endfacet\n facet normal 0.64234 0.289161 0.709778\n outer loop\n vertex 13.0963 -19.9992 9.5\n vertex 12.9897 -19.7624 9.5\n vertex 12.5949 -20.1127 10\n endloop\n endfacet\n facet normal 0.672951 0.209568 0.709379\n outer loop\n vertex 12.9897 -19.7624 9.5\n vertex 12.9125 -19.5145 9.5\n vertex 12.4887 -19.8461 10\n endloop\n endfacet\n facet normal 0.693954 0.127211 0.708692\n outer loop\n vertex 12.9125 -19.5145 9.5\n vertex 12.8657 -19.2592 9.5\n vertex 12.412 -19.5697 10\n endloop\n endfacet\n facet normal 0.705153 0.0427118 0.707767\n outer loop\n vertex 12.8657 -19.2592 9.5\n vertex 12.85 -19 9.5\n vertex 12.3655 -19.2865 10\n endloop\n endfacet\n facet normal 0.70659 -0.0382274 0.70659\n outer loop\n vertex 12.85 -19 9.5\n vertex 12.3655 -18.7135 10\n vertex 12.35 -19 10\n endloop\n endfacet\n facet normal 0.70659 0.0382274 0.70659\n outer loop\n vertex 12.3655 -19.2865 10\n vertex 12.85 -19 9.5\n vertex 12.35 -19 10\n endloop\n endfacet\n facet normal 0.487568 0.514752 0.7052\n outer loop\n vertex 13.2844 -21.0197 10\n vertex 13.5743 -20.6093 9.5\n vertex 13.0761 -20.8224 10\n endloop\n endfacet\n facet normal 0.540858 0.459247 0.704674\n outer loop\n vertex 13.0761 -20.8224 10\n vertex 13.3907 -20.4257 9.5\n vertex 12.8904 -20.6037 10\n endloop\n endfacet\n facet normal 0.587409 0.398449 0.704407\n outer loop\n vertex 12.8904 -20.6037 10\n vertex 13.2306 -20.2213 9.5\n vertex 12.7293 -20.3662 10\n endloop\n endfacet\n facet normal 0.62714 0.332496 0.704373\n outer loop\n vertex 12.7293 -20.3662 10\n vertex 13.0963 -19.9992 9.5\n vertex 12.5949 -20.1127 10\n endloop\n endfacet\n facet normal 0.659271 0.26262 0.704552\n outer loop\n vertex 12.5949 -20.1127 10\n vertex 12.9897 -19.7624 9.5\n vertex 12.4887 -19.8461 10\n endloop\n endfacet\n facet normal 0.683382 0.189636 0.705001\n outer loop\n vertex 12.4887 -19.8461 10\n vertex 12.9125 -19.5145 9.5\n vertex 12.412 -19.5697 10\n endloop\n endfacet\n facet normal 0.699151 0.114797 0.705698\n outer loop\n vertex 12.412 -19.5697 10\n vertex 12.8657 -19.2592 9.5\n vertex 12.3655 -19.2865 10\n endloop\n endfacet\n facet normal 0.705153 -0.0427118 0.707767\n outer loop\n vertex 12.85 -19 9.5\n vertex 12.8657 -18.7408 9.5\n vertex 12.3655 -18.7135 10\n endloop\n endfacet\n facet normal 0.699151 -0.114797 0.705698\n outer loop\n vertex 12.8657 -18.7408 9.5\n vertex 12.412 -18.4303 10\n vertex 12.3655 -18.7135 10\n endloop\n endfacet\n facet normal 0.693954 -0.127211 0.708692\n outer loop\n vertex 12.8657 -18.7408 9.5\n vertex 12.9125 -18.4855 9.5\n vertex 12.412 -18.4303 10\n endloop\n endfacet\n facet normal 0.672951 -0.209568 0.709379\n outer loop\n vertex 12.9125 -18.4855 9.5\n vertex 12.9897 -18.2376 9.5\n vertex 12.4887 -18.1539 10\n endloop\n endfacet\n facet normal 0.64234 -0.289161 0.709778\n outer loop\n vertex 12.9897 -18.2376 9.5\n vertex 13.0963 -18.0008 9.5\n vertex 12.5949 -17.8873 10\n endloop\n endfacet\n facet normal 0.6027 -0.364442 0.709883\n outer loop\n vertex 13.0963 -18.0008 9.5\n vertex 13.2306 -17.7787 9.5\n vertex 12.7293 -17.6338 10\n endloop\n endfacet\n facet normal 0.554659 -0.434447 0.709655\n outer loop\n vertex 13.2306 -17.7787 9.5\n vertex 13.3907 -17.5743 9.5\n vertex 12.8904 -17.3963 10\n endloop\n endfacet\n facet normal 0.49852 -0.49852 0.709194\n outer loop\n vertex 13.3907 -17.5743 9.5\n vertex 13.5743 -17.3907 9.5\n vertex 13.0761 -17.1776 10\n endloop\n endfacet\n facet normal 0.435218 -0.555643 0.708411\n outer loop\n vertex 13.5743 -17.3907 9.5\n vertex 13.7787 -17.2306 9.5\n vertex 13.2844 -16.9803 10\n endloop\n endfacet\n facet normal 0.365753 -0.604867 0.707362\n outer loop\n vertex 13.7787 -17.2306 9.5\n vertex 14.0008 -17.0963 9.5\n vertex 13.5129 -16.8066 10\n endloop\n endfacet\n facet normal 0.297312 -0.64249 0.706266\n outer loop\n vertex 14.0008 -17.0963 9.5\n vertex 14.0191 -16.5382 10\n vertex 13.7587 -16.6587 10\n endloop\n endfacet\n facet normal 0.364646 -0.606018 0.706948\n outer loop\n vertex 14.0008 -17.0963 9.5\n vertex 13.7587 -16.6587 10\n vertex 13.5129 -16.8066 10\n endloop\n endfacet\n facet normal 0.683382 -0.189636 0.705001\n outer loop\n vertex 12.9125 -18.4855 9.5\n vertex 12.4887 -18.1539 10\n vertex 12.412 -18.4303 10\n endloop\n endfacet\n facet normal 0.659271 -0.26262 0.704552\n outer loop\n vertex 12.9897 -18.2376 9.5\n vertex 12.5949 -17.8873 10\n vertex 12.4887 -18.1539 10\n endloop\n endfacet\n facet normal 0.62714 -0.332496 0.704373\n outer loop\n vertex 13.0963 -18.0008 9.5\n vertex 12.7293 -17.6338 10\n vertex 12.5949 -17.8873 10\n endloop\n endfacet\n facet normal 0.587409 -0.398449 0.704407\n outer loop\n vertex 13.2306 -17.7787 9.5\n vertex 12.8904 -17.3963 10\n vertex 12.7293 -17.6338 10\n endloop\n endfacet\n facet normal 0.540858 -0.459247 0.704674\n outer loop\n vertex 13.3907 -17.5743 9.5\n vertex 13.0761 -17.1776 10\n vertex 12.8904 -17.3963 10\n endloop\n endfacet\n facet normal 0.487568 -0.514752 0.7052\n outer loop\n vertex 13.5743 -17.3907 9.5\n vertex 13.2844 -16.9803 10\n vertex 13.0761 -17.1776 10\n endloop\n endfacet\n facet normal 0.428607 -0.563826 0.705972\n outer loop\n vertex 13.7787 -17.2306 9.5\n vertex 13.5129 -16.8066 10\n vertex 13.2844 -16.9803 10\n endloop\n endfacet\n facet normal 0.289856 -0.643884 0.708094\n outer loop\n vertex 14.2376 -16.9897 9.5\n vertex 14.0191 -16.5382 10\n vertex 14.0008 -17.0963 9.5\n endloop\n endfacet\n facet normal 0.226285 -0.671692 0.705425\n outer loop\n vertex 14.2376 -16.9897 9.5\n vertex 14.291 -16.4466 10\n vertex 14.0191 -16.5382 10\n endloop\n endfacet\n facet normal 0.209687 -0.673334 0.70898\n outer loop\n vertex 14.4855 -16.9125 9.5\n vertex 14.291 -16.4466 10\n vertex 14.2376 -16.9897 9.5\n endloop\n endfacet\n facet normal 0.127055 -0.6931 0.709556\n outer loop\n vertex 14.7408 -16.8657 9.5\n vertex 14.5713 -16.3849 10\n vertex 14.4855 -16.9125 9.5\n endloop\n endfacet\n facet normal 0.0425867 -0.703088 0.709826\n outer loop\n vertex 15 -16.85 9.5\n vertex 14.8565 -16.3539 10\n vertex 14.7408 -16.8657 9.5\n endloop\n endfacet\n facet normal -0.0425867 -0.703088 0.709826\n outer loop\n vertex 15.2592 -16.8657 9.5\n vertex 15.1435 -16.3539 10\n vertex 15 -16.85 9.5\n endloop\n endfacet\n facet normal -0.127055 -0.6931 0.709556\n outer loop\n vertex 15.5145 -16.9125 9.5\n vertex 15.4287 -16.3849 10\n vertex 15.2592 -16.8657 9.5\n endloop\n endfacet\n facet normal -0.209687 -0.673334 0.70898\n outer loop\n vertex 15.7624 -16.9897 9.5\n vertex 15.709 -16.4466 10\n vertex 15.5145 -16.9125 9.5\n endloop\n endfacet\n facet normal -0.289856 -0.643884 0.708094\n outer loop\n vertex 15.9992 -17.0963 9.5\n vertex 15.9809 -16.5382 10\n vertex 15.7624 -16.9897 9.5\n endloop\n endfacet\n facet normal -0.364646 -0.606018 0.706948\n outer loop\n vertex 16.4871 -16.8066 10\n vertex 16.2413 -16.6587 10\n vertex 15.9992 -17.0963 9.5\n endloop\n endfacet\n facet normal -0.297312 -0.64249 0.706266\n outer loop\n vertex 15.9992 -17.0963 9.5\n vertex 16.2413 -16.6587 10\n vertex 15.9809 -16.5382 10\n endloop\n endfacet\n facet normal 0.152494 -0.692774 0.704847\n outer loop\n vertex 14.4855 -16.9125 9.5\n vertex 14.5713 -16.3849 10\n vertex 14.291 -16.4466 10\n endloop\n endfacet\n facet normal 0.0766926 -0.705572 0.704476\n outer loop\n vertex 14.7408 -16.8657 9.5\n vertex 14.8565 -16.3539 10\n vertex 14.5713 -16.3849 10\n endloop\n endfacet\n facet normal 0 -0.70987 0.704333\n outer loop\n vertex 15 -16.85 9.5\n vertex 15.1435 -16.3539 10\n vertex 14.8565 -16.3539 10\n endloop\n endfacet\n facet normal -0.0766926 -0.705572 0.704476\n outer loop\n vertex 15.2592 -16.8657 9.5\n vertex 15.4287 -16.3849 10\n vertex 15.1435 -16.3539 10\n endloop\n endfacet\n facet normal -0.152494 -0.692774 0.704847\n outer loop\n vertex 15.5145 -16.9125 9.5\n vertex 15.709 -16.4466 10\n vertex 15.4287 -16.3849 10\n endloop\n endfacet\n facet normal -0.226285 -0.671692 0.705425\n outer loop\n vertex 15.7624 -16.9897 9.5\n vertex 15.9809 -16.5382 10\n vertex 15.709 -16.4466 10\n endloop\n endfacet\n facet normal -0.365753 -0.604867 0.707362\n outer loop\n vertex 16.2213 -17.2306 9.5\n vertex 16.4871 -16.8066 10\n vertex 15.9992 -17.0963 9.5\n endloop\n endfacet\n facet normal -0.428607 -0.563826 0.705972\n outer loop\n vertex 16.7156 -16.9803 10\n vertex 16.4871 -16.8066 10\n vertex 16.2213 -17.2306 9.5\n endloop\n endfacet\n facet normal -0.435218 -0.555643 0.708411\n outer loop\n vertex 16.4257 -17.3907 9.5\n vertex 16.7156 -16.9803 10\n vertex 16.2213 -17.2306 9.5\n endloop\n endfacet\n facet normal -0.49852 -0.49852 0.709194\n outer loop\n vertex 16.6093 -17.5743 9.5\n vertex 16.9239 -17.1776 10\n vertex 16.4257 -17.3907 9.5\n endloop\n endfacet\n facet normal -0.554659 -0.434447 0.709655\n outer loop\n vertex 16.7694 -17.7787 9.5\n vertex 17.1096 -17.3963 10\n vertex 16.6093 -17.5743 9.5\n endloop\n endfacet\n facet normal -0.6027 -0.364442 0.709883\n outer loop\n vertex 16.9037 -18.0008 9.5\n vertex 17.2707 -17.6338 10\n vertex 16.7694 -17.7787 9.5\n endloop\n endfacet\n facet normal -0.64234 -0.289161 0.709778\n outer loop\n vertex 17.0103 -18.2376 9.5\n vertex 17.4051 -17.8873 10\n vertex 16.9037 -18.0008 9.5\n endloop\n endfacet\n facet normal -0.672951 -0.209568 0.709379\n outer loop\n vertex 17.0875 -18.4855 9.5\n vertex 17.5113 -18.1539 10\n vertex 17.0103 -18.2376 9.5\n endloop\n endfacet\n facet normal -0.693954 -0.127211 0.708692\n outer loop\n vertex 17.1343 -18.7408 9.5\n vertex 17.588 -18.4303 10\n vertex 17.0875 -18.4855 9.5\n endloop\n endfacet\n facet normal -0.705153 -0.0427118 0.707767\n outer loop\n vertex 17.15 -19 9.5\n vertex 17.6345 -18.7135 10\n vertex 17.1343 -18.7408 9.5\n endloop\n endfacet\n facet normal -0.70659 0.0382274 0.70659\n outer loop\n vertex 17.6345 -19.2865 10\n vertex 17.65 -19 10\n vertex 17.15 -19 9.5\n endloop\n endfacet\n facet normal -0.70659 -0.0382274 0.70659\n outer loop\n vertex 17.65 -19 10\n vertex 17.6345 -18.7135 10\n vertex 17.15 -19 9.5\n endloop\n endfacet\n facet normal -0.487568 -0.514752 0.7052\n outer loop\n vertex 16.9239 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5.5\n vertex -17.6046 -1.39608 1.05058\n vertex -17.7044 -1.385 5.5\n endloop\n endfacet\n facet normal -0.0731887 0.997318 -0.000841919\n outer loop\n vertex -17.2956 -1.385 5.5\n vertex -17.3954 -1.39608 1.05058\n vertex -17.5 -1.4 5.5\n endloop\n endfacet\n facet normal -0.218026 0.975943 -0.000839231\n outer loop\n vertex -17.0956 -1.34032 5.5\n vertex -17.1885 -1.3649 1.05058\n vertex -17.2956 -1.385 5.5\n endloop\n endfacet\n facet normal -0.358227 0.933634 -0.000837916\n outer loop\n vertex -16.9043 -1.26692 5.5\n vertex -16.9885 -1.30322 1.05058\n vertex -17.0956 -1.34032 5.5\n endloop\n endfacet\n facet normal -0.490548 0.871414 -0.000827267\n outer loop\n vertex -16.7257 -1.16638 5.5\n vertex -16.8 -1.21243 1.05058\n vertex -16.9043 -1.26692 5.5\n endloop\n endfacet\n facet normal -0.612541 0.790438 -0.000815219\n outer loop\n vertex -16.5637 -1.04084 5.5\n vertex -16.6271 -1.09456 1.05058\n vertex -16.7257 -1.16638 5.5\n endloop\n endfacet\n facet normal -0.721454 0.692462 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-0.147643 5.5\n endloop\n endfacet\n facet normal -0.993515 -0.113696 -0.000655233\n outer loop\n vertex -16.1156 0.208659 1.05058\n vertex -16.1012 0.0571852 5.5\n vertex -16.1245 0.260788 5.5\n endloop\n endfacet\n facet normal -0.96624 -0.257644 -0.000607037\n outer loop\n vertex -16.1622 0.412657 1.05058\n vertex -16.1245 0.260788 5.5\n vertex -16.1773 0.458803 5.5\n endloop\n endfacet\n facet normal -0.918469 -0.395494 -0.000557749\n outer loop\n vertex -16.2386 0.607437 1.05058\n vertex -16.1773 0.458803 5.5\n vertex -16.2578 0.645751 5.5\n endloop\n endfacet\n facet normal -0.851318 -0.52465 -0.000490669\n outer loop\n vertex -16.3433 0.788648 1.05058\n vertex -16.2578 0.645751 5.5\n vertex -16.3646 0.819049 5.5\n endloop\n endfacet\n facet normal -0.766255 -0.642537 -0.000445538\n outer loop\n vertex -16.4737 0.952241 1.05058\n vertex -16.3646 0.819049 5.5\n vertex -16.4954 0.975034 5.5\n endloop\n endfacet\n facet normal -0.66509 -0.746763 -0.000374239\n outer loop\n vertex 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vertex -16.9885 1.30322 1.05058\n vertex -17.1885 1.3649 0.5\n vertex -16.9885 1.30322 0.5\n endloop\n endfacet\n facet normal -0.433935 -0.900944 0\n outer loop\n vertex -16.9885 1.30322 0.5\n vertex -16.8 1.21243 1.05058\n vertex -16.9885 1.30322 1.05058\n endloop\n endfacet\n facet normal -0.433935 -0.900944 -0\n outer loop\n vertex -16.8 1.21243 1.05058\n vertex -16.9885 1.30322 0.5\n vertex -16.8 1.21243 0.5\n endloop\n endfacet\n facet normal -0.563283 -0.826264 0\n outer loop\n vertex -16.8 1.21243 0.5\n vertex -16.6271 1.09456 1.05058\n vertex -16.8 1.21243 1.05058\n endloop\n endfacet\n facet normal -0.563283 -0.826264 -0\n outer loop\n vertex -16.6271 1.09456 1.05058\n vertex -16.8 1.21243 0.5\n vertex -16.6271 1.09456 0.5\n endloop\n endfacet\n facet normal -0.680133 -0.733089 0\n outer loop\n vertex -16.6271 1.09456 0.5\n vertex -16.4737 0.952241 1.05058\n vertex -16.6271 1.09456 1.05058\n endloop\n endfacet\n facet normal -0.680133 -0.733089 -0\n outer loop\n vertex 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loop\n vertex -16.2386 0.607437 1.05058\n vertex -16.1622 0.412657 0.5\n vertex -16.1622 0.412657 1.05058\n endloop\n endfacet\n facet normal -0.974888 -0.222697 0\n outer loop\n vertex -16.1156 0.208659 0.5\n vertex -16.1622 0.412657 1.05058\n vertex -16.1622 0.412657 0.5\n endloop\n endfacet\n facet normal -0.974888 -0.222697 0\n outer loop\n vertex -16.1622 0.412657 1.05058\n vertex -16.1156 0.208659 0.5\n vertex -16.1156 0.208659 1.05058\n endloop\n endfacet\n facet normal -0.997217 -0.0745551 0\n outer loop\n vertex -16.1 0 0.5\n vertex -16.1156 0.208659 1.05058\n vertex -16.1156 0.208659 0.5\n endloop\n endfacet\n facet normal -0.997217 -0.0745551 0\n outer loop\n vertex -16.1156 0.208659 1.05058\n vertex -16.1 0 0.5\n vertex -16.1 0 1.05058\n endloop\n endfacet\n facet normal -0.997217 0.0745551 0\n outer loop\n vertex -16.1156 -0.208659 0.5\n vertex -16.1 0 1.05058\n vertex -16.1 0 0.5\n endloop\n endfacet\n facet normal -0.997217 0.0745551 0\n outer loop\n vertex -16.1 0 1.05058\n vertex -16.1156 -0.208659 0.5\n vertex -16.1156 -0.208659 1.05058\n endloop\n endfacet\n facet normal -0.974888 0.222697 0\n outer loop\n vertex -16.1622 -0.412657 0.5\n vertex -16.1156 -0.208659 1.05058\n vertex -16.1156 -0.208659 0.5\n endloop\n endfacet\n facet normal -0.974888 0.222697 0\n outer loop\n vertex -16.1156 -0.208659 1.05058\n vertex -16.1622 -0.412657 0.5\n vertex -16.1622 -0.412657 1.05058\n endloop\n endfacet\n facet normal -0.930948 0.365153 0\n outer loop\n vertex -16.2386 -0.607437 0.5\n vertex -16.1622 -0.412657 1.05058\n vertex -16.1622 -0.412657 0.5\n endloop\n endfacet\n facet normal -0.930948 0.365153 0\n outer loop\n vertex -16.1622 -0.412657 1.05058\n vertex -16.2386 -0.607437 0.5\n vertex -16.2386 -0.607437 1.05058\n endloop\n endfacet\n facet normal -0.865864 0.500279 0\n outer loop\n vertex -16.3433 -0.788648 0.5\n vertex -16.2386 -0.607437 1.05058\n vertex -16.2386 -0.607437 0.5\n endloop\n endfacet\n facet normal -0.865864 0.500279 0\n outer loop\n vertex -16.2386 -0.607437 1.05058\n vertex -16.3433 -0.788648 0.5\n vertex -16.3433 -0.788648 1.05058\n endloop\n endfacet\n facet normal -0.781974 0.623311 0\n outer loop\n vertex -16.4737 -0.952241 0.5\n vertex -16.3433 -0.788648 1.05058\n vertex -16.3433 -0.788648 0.5\n endloop\n endfacet\n facet normal -0.781974 0.623311 0\n outer loop\n vertex -16.3433 -0.788648 1.05058\n vertex -16.4737 -0.952241 0.5\n vertex -16.4737 -0.952241 1.05058\n endloop\n endfacet\n facet normal -0.680133 0.733089 0\n outer loop\n vertex -16.4737 -0.952241 0.5\n vertex -16.6271 -1.09456 1.05058\n vertex -16.4737 -0.952241 1.05058\n endloop\n endfacet\n facet normal -0.680133 0.733089 0\n outer loop\n vertex -16.6271 -1.09456 1.05058\n vertex -16.4737 -0.952241 0.5\n vertex -16.6271 -1.09456 0.5\n endloop\n endfacet\n facet normal -0.563283 0.826264 0\n outer loop\n vertex -16.6271 -1.09456 0.5\n vertex -16.8 -1.21243 1.05058\n vertex -16.6271 -1.09456 1.05058\n endloop\n endfacet\n facet normal 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1.05058\n vertex -18.3729 1.09456 0.5\n vertex -18.2 1.21243 0.5\n endloop\n endfacet\n facet normal 0.422912 -0.906171 -0.000215299\n outer loop\n vertex -18.0115 1.30322 1.05058\n vertex -17.9982 1.30837 5.5\n vertex -18.1826 1.22231 5.5\n endloop\n endfacet\n facet normal 0.433935 -0.900944 0.000303604\n outer loop\n vertex -18.0115 1.30322 1.05058\n vertex -18.1826 1.22231 5.5\n vertex -18.2 1.21243 1.05058\n endloop\n endfacet\n facet normal 0.433935 -0.900944 0\n outer loop\n vertex -18.2 1.21243 0.5\n vertex -18.0115 1.30322 1.05058\n vertex -18.2 1.21243 1.05058\n endloop\n endfacet\n facet normal 0.433935 -0.900944 0\n outer loop\n vertex -18.0115 1.30322 1.05058\n vertex -18.2 1.21243 0.5\n vertex -18.0115 1.30322 0.5\n endloop\n endfacet\n facet normal 0.286942 -0.957948 -0.000130507\n outer loop\n vertex -17.8115 1.3649 1.05058\n vertex -17.8032 1.36678 5.5\n vertex -17.9982 1.30837 5.5\n endloop\n endfacet\n facet normal 0.294704 -0.955589 0.000225136\n outer loop\n vertex 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0.000800976\n outer loop\n vertex 16.303 -0.726022 5.5\n vertex 16.3433 -0.788648 1.05058\n vertex 16.2386 -0.607437 1.05058\n endloop\n endfacet\n facet normal 0.930947 0.365152 0.000777664\n outer loop\n vertex 16.2098 -0.543488 5.5\n vertex 16.2386 -0.607437 1.05058\n vertex 16.1622 -0.412657 1.05058\n endloop\n endfacet\n facet normal 0.974887 0.222697 0.0007513\n outer loop\n vertex 16.1443 -0.349308 5.5\n vertex 16.1622 -0.412657 1.05058\n vertex 16.1156 -0.208659 1.05058\n endloop\n endfacet\n facet normal 0.997217 0.074555 0.000725766\n outer loop\n vertex 16.1078 -0.147643 5.5\n vertex 16.1156 -0.208659 1.05058\n vertex 16.1 0 1.05058\n endloop\n endfacet\n facet normal 0.707107 0 -0.707107\n outer loop\n vertex 30 22 0.5\n vertex 29.5 -7.63604 0\n vertex 29.5 21.7929 0\n endloop\n endfacet\n facet normal 0.707107 0 -0.707107\n outer loop\n vertex 29.5 -7.63604 0\n vertex 30 22 0.5\n vertex 30 -7.84315 0.5\n endloop\n endfacet\n facet normal 0.500002 0.500002 -0.707103\n outer loop\n vertex 29.5 21.7929 0\n vertex 27 25 0.5\n vertex 30 22 0.5\n endloop\n endfacet\n facet normal 0.500002 0.500002 -0.707103\n outer loop\n vertex 27 25 0.5\n vertex 29.5 21.7929 0\n vertex 26.7929 24.5 0\n endloop\n endfacet\n facet normal 0 0.707107 -0.707107\n outer loop\n vertex 11 24.5 0\n vertex 27 25 0.5\n vertex 26.7929 24.5 0\n endloop\n endfacet\n facet normal 0 0.707107 -0.707107\n outer loop\n vertex 27 25 0.5\n vertex 11 24.5 0\n vertex 10.5 25 0.5\n endloop\n endfacet\n facet normal 0 0.707107 -0.707107\n outer loop\n vertex -11 24.5 0\n vertex -27 25 0.5\n vertex -10.5 25 0.5\n endloop\n endfacet\n facet normal 0 0.707107 -0.707107\n outer loop\n vertex -27 25 0.5\n vertex -11 24.5 0\n vertex -26.7929 24.5 0\n endloop\n endfacet\n facet normal -0.500002 0.500002 -0.707103\n outer loop\n vertex -29.5 21.7929 0\n vertex -27 25 0.5\n vertex -26.7929 24.5 0\n endloop\n endfacet\n facet normal -0.500002 0.500002 -0.707103\n outer loop\n vertex -27 25 0.5\n vertex -29.5 21.7929 0\n vertex -30 22 0.5\n endloop\n endfacet\n facet normal -0.707107 0 -0.707107\n outer loop\n vertex -29.5 -7.63604 0\n vertex -30 22 0.5\n vertex -29.5 21.7929 0\n endloop\n endfacet\n facet normal -0.707107 -0 -0.707107\n outer loop\n vertex -30 22 0.5\n vertex -29.5 -7.63604 0\n vertex -30 -7.84315 0.5\n endloop\n endfacet\n facet normal -0.707107 0 -0.707107\n outer loop\n vertex -21 -21.7929 0\n vertex -21.5 -18.4142 0.5\n vertex -21 -18.4142 0\n endloop\n endfacet\n facet normal -0.707107 -0 -0.707107\n outer loop\n vertex -21.5 -18.4142 0.5\n vertex -21 -21.7929 0\n vertex -21.5 -22 0.5\n endloop\n endfacet\n facet normal -0.517731 -0.481882 -0.706926\n outer loop\n vertex -22.6109 -14.5251 0\n vertex -22.3434 -14.8125 0\n vertex -22.9645 -14.8787 0.5\n endloop\n endfacet\n facet normal -0.518714 -0.479491 -0.707831\n outer loop\n vertex -22.3434 -14.8125 0\n vertex -22.698 -15.167 0.5\n vertex -22.9645 -14.8787 0.5\n endloop\n endfacet\n facet normal -0.551337 -0.444388 -0.706079\n outer loop\n vertex -22.3434 -14.8125 0\n vertex -22.097 -15.1182 0\n vertex -22.698 -15.167 0.5\n endloop\n endfacet\n facet normal -0.582215 -0.40421 -0.705436\n outer loop\n vertex -22.097 -15.1182 0\n vertex -21.8731 -15.4407 0\n vertex -22.4549 -15.4753 0.5\n endloop\n endfacet\n facet normal -0.609959 -0.361892 -0.704971\n outer loop\n vertex -21.8731 -15.4407 0\n vertex -21.6728 -15.7783 0\n vertex -22.2368 -15.8017 0.5\n endloop\n endfacet\n facet normal -0.63438 -0.317641 -0.704746\n outer loop\n vertex -21.6728 -15.7783 0\n vertex -21.497 -16.1294 0\n vertex -22.045 -16.1443 0.5\n endloop\n endfacet\n facet normal -0.655625 -0.27143 -0.704614\n outer loop\n vertex -21.497 -16.1294 0\n vertex -21.3468 -16.4922 0\n vertex -21.8806 -16.5008 0.5\n endloop\n endfacet\n facet normal -0.673213 -0.224103 -0.704672\n outer loop\n vertex -21.3468 -16.4922 0\n vertex -21.2228 -16.8647 0\n vertex -21.7447 -16.8691 0.5\n endloop\n endfacet\n facet normal -0.687164 -0.175404 -0.70501\n outer loop\n vertex -21.2228 -16.8647 0\n vertex -21.1257 -17.2451 0\n vertex -21.6382 -17.247 0.5\n endloop\n endfacet\n facet normal -0.697507 -0.125818 -0.705445\n outer loop\n vertex -21.1257 -17.2451 0\n vertex -21.056 -17.6315 0\n vertex -21.5616 -17.632 0.5\n endloop\n endfacet\n facet normal -0.70408 -0.0757658 -0.706067\n outer loop\n vertex -21.056 -17.6315 0\n vertex -21.014 -18.0218 0\n vertex -21.5154 -18.0219 0.5\n endloop\n endfacet\n facet normal -0.706882 -0.02522 -0.706882\n outer loop\n vertex -21.014 -18.0218 0\n vertex -21 -18.4142 0\n vertex -21.5 -18.4142 0.5\n endloop\n endfacet\n facet normal -0.705844 -0.0277084 -0.707826\n outer loop\n vertex -21.014 -18.0218 0\n vertex -21.5 -18.4142 0.5\n vertex -21.5154 -18.0219 0.5\n endloop\n endfacet\n facet normal -0.554062 -0.436887 -0.708622\n outer loop\n vertex -22.097 -15.1182 0\n vertex -22.4549 -15.4753 0.5\n vertex -22.698 -15.167 0.5\n endloop\n endfacet\n facet normal -0.58619 -0.391691 -0.709196\n outer loop\n vertex -21.8731 -15.4407 0\n vertex -22.2368 -15.8017 0.5\n vertex -22.4549 -15.4753 0.5\n endloop\n endfacet\n facet normal -0.614806 -0.344191 -0.70961\n outer loop\n vertex -21.6728 -15.7783 0\n vertex -22.045 -16.1443 0.5\n vertex -22.2368 -15.8017 0.5\n endloop\n endfacet\n facet normal -0.639636 -0.294968 -0.709831\n outer loop\n vertex -21.497 -16.1294 0\n vertex -21.8806 -16.5008 0.5\n vertex -22.045 -16.1443 0.5\n endloop\n endfacet\n facet normal -0.660888 -0.243863 -0.709759\n outer loop\n vertex -21.3468 -16.4922 0\n vertex -21.7447 -16.8691 0.5\n vertex -21.8806 -16.5008 0.5\n endloop\n endfacet\n facet normal -0.6782 -0.191131 -0.709587\n outer loop\n vertex -21.2228 -16.8647 0\n vertex -21.6382 -17.247 0.5\n vertex -21.7447 -16.8691 0.5\n endloop\n endfacet\n facet normal -0.691423 -0.137566 -0.709232\n outer loop\n vertex -21.1257 -17.2451 0\n vertex -21.5616 -17.632 0.5\n vertex -21.6382 -17.247 0.5\n endloop\n endfacet\n facet normal -0.700689 -0.083026 -0.70862\n outer loop\n vertex -21.056 -17.6315 0\n vertex -21.5154 -18.0219 0.5\n vertex -21.5616 -17.632 0.5\n endloop\n endfacet\n facet normal -0.499966 -0.499968 -0.707153\n outer loop\n vertex -22.9645 -14.8787 0.5\n vertex -29.5 -7.63604 0\n vertex -22.6109 -14.5251 0\n endloop\n endfacet\n facet normal -0.5 -0.499997 -0.707109\n outer loop\n vertex -29.5 -7.63604 0\n vertex -22.9645 -14.8787 0.5\n vertex -30 -7.84315 0.5\n endloop\n endfacet\n facet normal -0.500002 -0.500002 -0.707103\n outer loop\n vertex -18.5 -25 0.5\n vertex -21 -21.7929 0\n vertex -18.2929 -24.5 0\n endloop\n endfacet\n facet normal -0.500002 -0.500002 -0.707103\n outer loop\n vertex -21 -21.7929 0\n vertex -18.5 -25 0.5\n vertex -21.5 -22 0.5\n endloop\n endfacet\n facet normal 0 -0.707107 -0.707107\n outer loop\n vertex -18.2929 -24.5 0\n vertex 18.5 -25 0.5\n vertex -18.5 -25 0.5\n endloop\n endfacet\n facet normal 0 -0.707107 -0.707107\n outer loop\n vertex 18.5 -25 0.5\n vertex -18.2929 -24.5 0\n vertex 18.2929 -24.5 0\n endloop\n endfacet\n facet normal 0.500002 -0.500002 -0.707103\n outer loop\n vertex 18.5 -25 0.5\n vertex 21 -21.7929 0\n vertex 21.5 -22 0.5\n endloop\n endfacet\n facet normal 0.500002 -0.500002 -0.707103\n outer loop\n vertex 21 -21.7929 0\n vertex 18.5 -25 0.5\n vertex 18.2929 -24.5 0\n endloop\n endfacet\n facet normal 0.5 -0.499997 -0.707109\n outer loop\n vertex 22.9645 -14.8787 0.5\n vertex 29.5 -7.63604 0\n vertex 30 -7.84315 0.5\n endloop\n endfacet\n facet normal 0.499966 -0.499968 -0.707153\n outer loop\n vertex 29.5 -7.63604 0\n vertex 22.9645 -14.8787 0.5\n vertex 22.6109 -14.5251 0\n endloop\n endfacet\n facet normal 0.706882 -0.02522 -0.706882\n outer loop\n vertex 21.014 -18.0218 0\n vertex 21.5 -18.4142 0.5\n vertex 21 -18.4142 0\n endloop\n endfacet\n facet normal 0.705844 -0.0277084 -0.707826\n outer loop\n vertex 21.5154 -18.0219 0.5\n vertex 21.5 -18.4142 0.5\n vertex 21.014 -18.0218 0\n endloop\n endfacet\n facet normal 0.70408 -0.0757658 -0.706067\n outer loop\n vertex 21.056 -17.6315 0\n vertex 21.5154 -18.0219 0.5\n vertex 21.014 -18.0218 0\n endloop\n endfacet\n facet normal 0.697507 -0.125818 -0.705445\n outer loop\n vertex 21.1257 -17.2451 0\n vertex 21.5616 -17.632 0.5\n vertex 21.056 -17.6315 0\n endloop\n endfacet\n facet normal 0.687164 -0.175404 -0.70501\n outer loop\n vertex 21.2228 -16.8647 0\n vertex 21.6382 -17.247 0.5\n vertex 21.1257 -17.2451 0\n endloop\n endfacet\n facet normal 0.673213 -0.224103 -0.704672\n outer loop\n vertex 21.3468 -16.4922 0\n vertex 21.7447 -16.8691 0.5\n vertex 21.2228 -16.8647 0\n endloop\n endfacet\n facet normal 0.655625 -0.27143 -0.704614\n outer loop\n vertex 21.497 -16.1294 0\n vertex 21.8806 -16.5008 0.5\n vertex 21.3468 -16.4922 0\n endloop\n endfacet\n facet normal 0.63438 -0.317641 -0.704746\n outer loop\n vertex 21.6728 -15.7783 0\n vertex 22.045 -16.1443 0.5\n vertex 21.497 -16.1294 0\n endloop\n endfacet\n facet normal 0.609959 -0.361892 -0.704971\n outer loop\n vertex 21.8731 -15.4407 0\n vertex 22.2368 -15.8017 0.5\n vertex 21.6728 -15.7783 0\n endloop\n endfacet\n facet normal 0.582215 -0.40421 -0.705436\n outer loop\n vertex 22.097 -15.1182 0\n vertex 22.4549 -15.4753 0.5\n vertex 21.8731 -15.4407 0\n endloop\n endfacet\n facet normal 0.551337 -0.444388 -0.706079\n outer loop\n vertex 22.3434 -14.8125 0\n vertex 22.698 -15.167 0.5\n vertex 22.097 -15.1182 0\n endloop\n endfacet\n facet normal 0.517731 -0.481882 -0.706926\n outer loop\n vertex 22.6109 -14.5251 0\n vertex 22.9645 -14.8787 0.5\n vertex 22.3434 -14.8125 0\n endloop\n endfacet\n facet normal 0.518714 -0.479491 -0.707831\n outer loop\n vertex 22.9645 -14.8787 0.5\n vertex 22.698 -15.167 0.5\n vertex 22.3434 -14.8125 0\n endloop\n endfacet\n facet normal 0.700689 -0.083026 -0.70862\n outer loop\n vertex 21.5616 -17.632 0.5\n vertex 21.5154 -18.0219 0.5\n vertex 21.056 -17.6315 0\n endloop\n endfacet\n facet normal 0.691423 -0.137566 -0.709232\n outer loop\n vertex 21.6382 -17.247 0.5\n vertex 21.5616 -17.632 0.5\n vertex 21.1257 -17.2451 0\n endloop\n endfacet\n facet normal 0.6782 -0.191131 -0.709587\n outer loop\n vertex 21.7447 -16.8691 0.5\n vertex 21.6382 -17.247 0.5\n vertex 21.2228 -16.8647 0\n endloop\n endfacet\n facet normal 0.660888 -0.243863 -0.709759\n outer loop\n vertex 21.8806 -16.5008 0.5\n vertex 21.7447 -16.8691 0.5\n vertex 21.3468 -16.4922 0\n endloop\n endfacet\n facet normal 0.639636 -0.294968 -0.709831\n outer loop\n vertex 22.045 -16.1443 0.5\n vertex 21.8806 -16.5008 0.5\n vertex 21.497 -16.1294 0\n endloop\n endfacet\n facet normal 0.614806 -0.344191 -0.70961\n outer loop\n vertex 22.2368 -15.8017 0.5\n vertex 22.045 -16.1443 0.5\n vertex 21.6728 -15.7783 0\n endloop\n endfacet\n facet normal 0.58619 -0.391691 -0.709196\n outer loop\n vertex 22.4549 -15.4753 0.5\n vertex 22.2368 -15.8017 0.5\n vertex 21.8731 -15.4407 0\n endloop\n endfacet\n facet normal 0.554062 -0.436887 -0.708622\n outer loop\n vertex 22.698 -15.167 0.5\n vertex 22.4549 -15.4753 0.5\n vertex 22.097 -15.1182 0\n endloop\n endfacet\n facet normal 0.707107 0 -0.707107\n outer loop\n vertex 21.5 -18.4142 0.5\n vertex 21 -21.7929 0\n vertex 21 -18.4142 0\n endloop\n endfacet\n facet normal 0.707107 0 -0.707107\n outer loop\n vertex 21 -21.7929 0\n vertex 21.5 -18.4142 0.5\n vertex 21.5 -22 0.5\n endloop\n endfacet\n facet normal 0.707107 0.707107 0\n outer loop\n vertex 30 22 9.5\n vertex 27 25 0.5\n vertex 27 25 9.5\n endloop\n endfacet\n facet normal 0.707107 0.707107 0\n outer loop\n vertex 27 25 0.5\n vertex 30 22 9.5\n vertex 30 22 0.5\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 27 25 9.5\n vertex 7 25 4\n vertex 3.5 25 9.5\n endloop\n endfacet\n facet normal 0 1 -0\n outer loop\n vertex 10.5 25 1\n vertex 7 25 4\n vertex 27 25 9.5\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 7 25 4\n vertex 10.5 25 1\n vertex 7 25 3.47487\n endloop\n endfacet\n facet normal 0 1 -0\n outer loop\n vertex 27 25 0.5\n vertex 10.5 25 1\n vertex 27 25 9.5\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 10.5 25 1\n vertex 27 25 0.5\n vertex 10.5 25 0.5\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex 3.5 25 9.5\n vertex 7 25 4\n vertex 3.5 25 4\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex -7 25 4\n vertex -3.5 25 9.5\n vertex -3.5 25 4\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex -3.5 25 9.5\n vertex -7 25 4\n vertex -27 25 9.5\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex -10.5 25 1\n vertex -7 25 4\n vertex -7 25 3.47487\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex -7 25 4\n vertex -10.5 25 1\n vertex -27 25 9.5\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex -27 25 0.5\n vertex -10.5 25 1\n vertex -10.5 25 0.5\n endloop\n endfacet\n facet normal 0 1 0\n outer loop\n vertex -10.5 25 1\n vertex -27 25 0.5\n vertex -27 25 9.5\n endloop\n endfacet\n facet normal -0.707107 0.707107 0\n outer loop\n vertex -30 22 0.5\n vertex -27 25 9.5\n vertex -27 25 0.5\n endloop\n endfacet\n facet normal -0.707107 0.707107 0\n outer loop\n vertex -27 25 9.5\n vertex -30 22 0.5\n vertex -30 22 9.5\n endloop\n endfacet\n facet normal -0.707109 -0.707104 0\n outer loop\n vertex -22.9645 -14.8787 0.5\n vertex -30 -7.84315 9.5\n vertex -30 -7.84315 0.5\n endloop\n endfacet\n facet normal -0.707109 -0.707104 0\n outer loop\n vertex -30 -7.84315 9.5\n vertex -22.9645 -14.8787 0.5\n vertex -22.9645 -14.8787 9.5\n endloop\n endfacet\n facet normal -0.717423 -0.696638 0\n outer loop\n vertex -22.8606 -14.9857 5.25\n vertex -22.9645 -14.8787 9.5\n vertex -22.9645 -14.8787 0.5\n endloop\n endfacet\n facet normal -0.754567 -0.656222 0.000875197\n outer loop\n vertex -22.5997 -15.2857 5.25\n vertex -22.698 -15.167 9.5\n vertex -22.8606 -14.9857 5.25\n endloop\n endfacet\n facet normal -0.804296 -0.594228 0.000893275\n outer loop\n vertex -22.3635 -15.6054 5.25\n vertex -22.4549 -15.4753 9.5\n vertex -22.5997 -15.2857 5.25\n endloop\n endfacet\n facet normal -0.849014 -0.52837 0.00090611\n outer loop\n vertex -22.1534 -15.943 5.25\n vertex -22.2368 -15.8017 9.5\n vertex -22.3635 -15.6054 5.25\n endloop\n endfacet\n facet normal -0.888256 -0.459347 0.000898902\n outer loop\n vertex -21.9708 -16.2961 5.25\n vertex -22.045 -16.1443 9.5\n vertex -22.1534 -15.943 5.25\n endloop\n endfacet\n facet normal -0.921957 -0.387292 0.000913359\n outer loop\n vertex -21.8168 -16.6627 5.25\n vertex -21.8806 -16.5008 9.5\n vertex -21.9708 -16.2961 5.25\n endloop\n endfacet\n facet normal -0.949859 -0.312679 0.000928929\n outer loop\n vertex -21.6925 -17.0403 5.25\n vertex -21.7447 -16.8691 9.5\n vertex -21.8168 -16.6627 5.25\n endloop\n endfacet\n facet normal -0.971647 -0.236435 0.000915136\n outer loop\n vertex -21.5985 -17.4266 5.25\n vertex -21.6382 -17.247 9.5\n vertex -21.6925 -17.0403 5.25\n endloop\n endfacet\n facet normal -0.987362 -0.158481 0.00091333\n outer loop\n vertex -21.5355 -17.8191 5.25\n vertex -21.5616 -17.632 9.5\n vertex -21.5985 -17.4266 5.25\n endloop\n endfacet\n facet normal -0.996856 -0.0792353 0.000933618\n outer loop\n vertex -21.504 -18.2154 5.25\n vertex -21.5154 -18.0219 9.5\n vertex -21.5355 -17.8191 5.25\n endloop\n endfacet\n facet normal -0.999798 -0.0201167 0\n outer loop\n vertex -21.5 -18.4142 0.5\n vertex -21.5 -18.4142 9.5\n vertex -21.504 -18.2154 5.25\n endloop\n endfacet\n facet normal -0.99923 -0.0392254 -0.000894376\n outer loop\n vertex -21.504 -18.2154 5.25\n vertex -21.5 -18.4142 9.5\n vertex -21.5154 -18.0219 9.5\n endloop\n endfacet\n facet normal -0.785247 -0.619182 0.00077747\n outer loop\n vertex -22.4549 -15.4753 0.5\n vertex -22.5997 -15.2857 5.25\n vertex -22.698 -15.167 0.5\n endloop\n endfacet\n facet normal -0.804296 -0.594228 -0.000799246\n outer loop\n vertex -22.4549 -15.4753 0.5\n vertex -22.3635 -15.6054 5.25\n vertex -22.5997 -15.2857 5.25\n endloop\n endfacet\n facet normal -0.831462 -0.555581 0.000781989\n outer loop\n vertex -22.2368 -15.8017 0.5\n vertex -22.3635 -15.6054 5.25\n vertex -22.4549 -15.4753 0.5\n endloop\n endfacet\n facet normal -0.849014 -0.52837 -0.00081073\n outer loop\n vertex -22.2368 -15.8017 0.5\n vertex -22.1534 -15.943 5.25\n vertex -22.3635 -15.6054 5.25\n endloop\n endfacet\n facet normal -0.872567 -0.488495 0.000789002\n outer loop\n vertex -22.045 -16.1443 0.5\n vertex -22.1534 -15.943 5.25\n vertex -22.2368 -15.8017 0.5\n endloop\n endfacet\n facet normal -0.908093 -0.418767 0.000802452\n outer loop\n vertex -21.8806 -16.5008 0.5\n vertex -21.9708 -16.2961 5.25\n vertex -22.045 -16.1443 0.5\n endloop\n endfacet\n facet normal -0.938169 -0.346177 0.000801905\n outer loop\n vertex -21.7447 -16.8691 0.5\n vertex -21.8168 -16.6627 5.25\n vertex -21.8806 -16.5008 0.5\n endloop\n endfacet\n facet normal -0.962507 -0.271254 0.00080087\n outer loop\n vertex -21.6382 -17.247 0.5\n vertex -21.6925 -17.0403 5.25\n vertex -21.7447 -16.8691 0.5\n endloop\n endfacet\n facet normal -0.980776 -0.195136 0.00081902\n outer loop\n vertex -21.5616 -17.632 0.5\n vertex -21.5985 -17.4266 5.25\n vertex -21.6382 -17.247 0.5\n endloop\n endfacet\n facet normal -0.993053 -0.117669 0.000821654\n outer loop\n vertex -21.5154 -18.0219 0.5\n vertex -21.5355 -17.8191 5.25\n vertex -21.5616 -17.632 0.5\n endloop\n endfacet\n facet normal -0.99923 -0.0392254 0.000800231\n outer loop\n vertex -21.5 -18.4142 0.5\n vertex -21.504 -18.2154 5.25\n vertex -21.5154 -18.0219 0.5\n endloop\n endfacet\n facet normal -0.996856 -0.0792353 -0.000835343\n outer loop\n vertex -21.5154 -18.0219 0.5\n vertex -21.504 -18.2154 5.25\n vertex -21.5355 -17.8191 5.25\n endloop\n endfacet\n facet normal -0.888256 -0.459347 -0.00080428\n outer loop\n vertex -22.045 -16.1443 0.5\n vertex -21.9708 -16.2961 5.25\n vertex -22.1534 -15.943 5.25\n endloop\n endfacet\n facet normal -0.921957 -0.387292 -0.000817216\n outer loop\n vertex -21.8806 -16.5008 0.5\n vertex -21.8168 -16.6627 5.25\n vertex -21.9708 -16.2961 5.25\n endloop\n endfacet\n facet normal -0.949859 -0.312679 -0.000831147\n outer loop\n vertex -21.7447 -16.8691 0.5\n vertex -21.6925 -17.0403 5.25\n vertex -21.8168 -16.6627 5.25\n endloop\n endfacet\n facet normal -0.971647 -0.236435 -0.000818806\n outer loop\n vertex -21.6382 -17.247 0.5\n vertex -21.5985 -17.4266 5.25\n vertex -21.6925 -17.0403 5.25\n endloop\n endfacet\n facet normal -0.987362 -0.158481 -0.00081719\n outer loop\n vertex -21.5616 -17.632 0.5\n vertex -21.5355 -17.8191 5.25\n vertex -21.5985 -17.4266 5.25\n endloop\n endfacet\n facet normal -0.993052 -0.117669 -0.000918319\n outer loop\n vertex -21.5355 -17.8191 5.25\n vertex -21.5154 -18.0219 9.5\n vertex -21.5616 -17.632 9.5\n endloop\n endfacet\n facet normal -0.980776 -0.195136 -0.000915375\n outer loop\n vertex -21.5985 -17.4266 5.25\n vertex -21.5616 -17.632 9.5\n vertex -21.6382 -17.247 9.5\n endloop\n endfacet\n facet normal -0.962507 -0.271254 -0.00089509\n outer loop\n vertex -21.6925 -17.0403 5.25\n vertex -21.6382 -17.247 9.5\n vertex -21.7447 -16.8691 9.5\n endloop\n endfacet\n facet normal -0.938169 -0.346177 -0.000896246\n outer loop\n vertex -21.8168 -16.6627 5.25\n vertex -21.7447 -16.8691 9.5\n vertex -21.8806 -16.5008 9.5\n endloop\n endfacet\n facet normal -0.908093 -0.418767 -0.000896858\n outer loop\n vertex -21.9708 -16.2961 5.25\n vertex -21.8806 -16.5008 9.5\n vertex -22.045 -16.1443 9.5\n endloop\n endfacet\n facet normal -0.872566 -0.488495 -0.000881825\n outer loop\n vertex -22.1534 -15.943 5.25\n vertex -22.045 -16.1443 9.5\n vertex -22.2368 -15.8017 9.5\n endloop\n endfacet\n facet normal -0.831462 -0.555581 -0.000873988\n outer loop\n vertex -22.3635 -15.6054 5.25\n vertex -22.2368 -15.8017 9.5\n vertex -22.4549 -15.4753 9.5\n endloop\n endfacet\n facet normal -0.785247 -0.619181 -0.000868937\n outer loop\n vertex -22.5997 -15.2857 5.25\n vertex -22.4549 -15.4753 9.5\n vertex -22.698 -15.167 9.5\n endloop\n endfacet\n facet normal -0.734324 -0.678798 -0.000862335\n outer loop\n vertex -22.8606 -14.9857 5.25\n vertex -22.698 -15.167 9.5\n vertex -22.9645 -14.8787 9.5\n endloop\n endfacet\n facet normal -0.734325 -0.678798 0.000771563\n outer loop\n vertex -22.698 -15.167 0.5\n vertex -22.8606 -14.9857 5.25\n vertex -22.9645 -14.8787 0.5\n endloop\n endfacet\n facet normal -0.754567 -0.656222 -0.000783071\n outer loop\n vertex -22.698 -15.167 0.5\n vertex -22.5997 -15.2857 5.25\n vertex -22.8606 -14.9857 5.25\n endloop\n endfacet\n facet normal -1 0 0\n outer loop\n vertex -21.5 -22 0.5\n vertex -21.5 -18.4142 9.5\n vertex -21.5 -18.4142 0.5\n endloop\n endfacet\n facet normal -1 -0 0\n outer loop\n vertex -21.5 -18.4142 9.5\n vertex -21.5 -22 0.5\n vertex -21.5 -22 9.5\n endloop\n endfacet\n facet normal 0.707107 -0 0.707107\n outer loop\n vertex 29.5 -7.63604 10\n vertex 30 -3.59145 9.5\n vertex 29.5 -2.84315 10\n endloop\n endfacet\n facet normal 0.707107 0 0.707107\n outer loop\n vertex 30 -3.59145 9.5\n vertex 29.5 -7.63604 10\n vertex 30 -7.84315 9.5\n endloop\n endfacet\n facet normal 0.707107 -0 0.707107\n outer loop\n vertex 21 -21.7929 10\n vertex 21.5 -18.4142 9.5\n vertex 21 -18.4142 10\n endloop\n endfacet\n facet normal 0.707107 0 0.707107\n outer loop\n vertex 21.5 -18.4142 9.5\n vertex 21 -21.7929 10\n vertex 21.5 -22 9.5\n endloop\n endfacet\n facet normal 0.517731 -0.481882 0.706926\n outer loop\n vertex 22.9645 -14.8787 9.5\n vertex 22.6109 -14.5251 10\n vertex 22.3434 -14.8125 10\n endloop\n endfacet\n facet normal 0.518714 -0.479491 0.707831\n outer loop\n vertex 22.698 -15.167 9.5\n vertex 22.9645 -14.8787 9.5\n vertex 22.3434 -14.8125 10\n endloop\n endfacet\n facet normal 0.551337 -0.444388 0.706079\n outer loop\n vertex 22.698 -15.167 9.5\n vertex 22.3434 -14.8125 10\n vertex 22.097 -15.1182 10\n endloop\n endfacet\n facet normal 0.582215 -0.40421 0.705436\n outer loop\n vertex 22.4549 -15.4753 9.5\n vertex 22.097 -15.1182 10\n vertex 21.8731 -15.4407 10\n endloop\n endfacet\n facet normal 0.609959 -0.361892 0.704971\n outer loop\n vertex 22.2368 -15.8017 9.5\n vertex 21.8731 -15.4407 10\n vertex 21.6728 -15.7783 10\n endloop\n endfacet\n facet normal 0.63438 -0.317641 0.704746\n outer loop\n vertex 22.045 -16.1443 9.5\n vertex 21.6728 -15.7783 10\n vertex 21.497 -16.1294 10\n endloop\n endfacet\n facet normal 0.655625 -0.27143 0.704614\n outer loop\n vertex 21.8806 -16.5008 9.5\n vertex 21.497 -16.1294 10\n vertex 21.3468 -16.4922 10\n endloop\n endfacet\n facet normal 0.673213 -0.224103 0.704672\n outer loop\n vertex 21.7447 -16.8691 9.5\n vertex 21.3468 -16.4922 10\n vertex 21.2228 -16.8647 10\n endloop\n endfacet\n facet normal 0.687164 -0.175404 0.70501\n outer loop\n vertex 21.6382 -17.247 9.5\n vertex 21.2228 -16.8647 10\n vertex 21.1257 -17.2451 10\n endloop\n endfacet\n facet normal 0.697507 -0.125818 0.705445\n outer loop\n vertex 21.5616 -17.632 9.5\n vertex 21.1257 -17.2451 10\n vertex 21.056 -17.6315 10\n endloop\n endfacet\n facet normal 0.70408 -0.0757658 0.706067\n outer loop\n vertex 21.5154 -18.0219 9.5\n vertex 21.056 -17.6315 10\n vertex 21.014 -18.0218 10\n endloop\n endfacet\n facet normal 0.706882 -0.02522 0.706882\n outer loop\n vertex 21.5 -18.4142 9.5\n vertex 21.014 -18.0218 10\n vertex 21 -18.4142 10\n endloop\n endfacet\n facet normal 0.705844 -0.0277084 0.707826\n outer loop\n vertex 21.5 -18.4142 9.5\n vertex 21.5154 -18.0219 9.5\n vertex 21.014 -18.0218 10\n endloop\n endfacet\n facet normal 0.554062 -0.436887 0.708622\n outer loop\n vertex 22.4549 -15.4753 9.5\n vertex 22.698 -15.167 9.5\n vertex 22.097 -15.1182 10\n endloop\n endfacet\n facet normal 0.58619 -0.391691 0.709196\n outer loop\n vertex 22.2368 -15.8017 9.5\n vertex 22.4549 -15.4753 9.5\n vertex 21.8731 -15.4407 10\n endloop\n endfacet\n facet normal 0.614806 -0.344191 0.70961\n outer loop\n vertex 22.045 -16.1443 9.5\n vertex 22.2368 -15.8017 9.5\n vertex 21.6728 -15.7783 10\n endloop\n endfacet\n facet normal 0.639636 -0.294968 0.709831\n outer loop\n vertex 21.8806 -16.5008 9.5\n vertex 22.045 -16.1443 9.5\n vertex 21.497 -16.1294 10\n endloop\n endfacet\n facet normal 0.660888 -0.243863 0.709759\n outer loop\n vertex 21.7447 -16.8691 9.5\n vertex 21.8806 -16.5008 9.5\n vertex 21.3468 -16.4922 10\n endloop\n endfacet\n facet normal 0.6782 -0.191131 0.709587\n outer loop\n vertex 21.6382 -17.247 9.5\n vertex 21.7447 -16.8691 9.5\n vertex 21.2228 -16.8647 10\n endloop\n endfacet\n facet normal 0.691423 -0.137566 0.709232\n outer loop\n vertex 21.5616 -17.632 9.5\n vertex 21.6382 -17.247 9.5\n vertex 21.1257 -17.2451 10\n endloop\n endfacet\n facet normal 0.700689 -0.083026 0.70862\n outer loop\n vertex 21.5154 -18.0219 9.5\n vertex 21.5616 -17.632 9.5\n vertex 21.056 -17.6315 10\n endloop\n endfacet\n facet normal 0.5 -0.499997 0.707109\n outer loop\n vertex 29.5 -7.63604 10\n vertex 22.9645 -14.8787 9.5\n vertex 30 -7.84315 9.5\n endloop\n endfacet\n facet normal 0.499966 -0.499968 0.707153\n outer loop\n vertex 22.9645 -14.8787 9.5\n vertex 29.5 -7.63604 10\n vertex 22.6109 -14.5251 10\n endloop\n endfacet\n facet normal 0.707109 0.653279 -0.270598\n outer loop\n vertex 30 -3.59145 9.5\n vertex 30 -5.0412 6\n vertex 29.5 -4.5 6\n endloop\n endfacet\n facet normal 0.707105 0.653283 -0.270598\n outer loop\n vertex 29.5 -2.84315 10\n vertex 30 -3.59145 9.5\n vertex 29.5 -4.5 6\n endloop\n endfacet\n facet normal 0.500002 -0.500002 0.707103\n outer loop\n vertex 21 -21.7929 10\n vertex 18.5 -25 9.5\n vertex 21.5 -22 9.5\n endloop\n endfacet\n facet normal 0.500002 -0.500002 0.707103\n outer loop\n vertex 18.5 -25 9.5\n vertex 21 -21.7929 10\n vertex 18.2929 -24.5 10\n endloop\n endfacet\n facet normal 0 -0.707107 0.707107\n outer loop\n vertex -18.5 -25 9.5\n vertex 18.2929 -24.5 10\n vertex -18.2929 -24.5 10\n endloop\n endfacet\n facet normal 0 -0.707107 0.707107\n outer loop\n vertex 18.2929 -24.5 10\n vertex -18.5 -25 9.5\n vertex 18.5 -25 9.5\n endloop\n endfacet\n facet normal -0.500002 -0.500002 0.707103\n outer loop\n vertex -21 -21.7929 10\n vertex -18.5 -25 9.5\n vertex -18.2929 -24.5 10\n endloop\n endfacet\n facet normal -0.500002 -0.500002 0.707103\n outer loop\n vertex -18.5 -25 9.5\n vertex -21 -21.7929 10\n vertex -21.5 -22 9.5\n endloop\n endfacet\n facet normal -0.499966 -0.499968 0.707153\n outer loop\n vertex -29.5 -7.63604 10\n vertex -22.9645 -14.8787 9.5\n vertex -22.6109 -14.5251 10\n endloop\n endfacet\n facet normal -0.5 -0.499997 0.707109\n outer loop\n vertex -22.9645 -14.8787 9.5\n vertex -29.5 -7.63604 10\n vertex -30 -7.84315 9.5\n endloop\n endfacet\n facet normal -0.706882 -0.02522 0.706882\n outer loop\n vertex -21 -18.4142 10\n vertex -21.014 -18.0218 10\n vertex -21.5 -18.4142 9.5\n endloop\n endfacet\n facet normal -0.705844 -0.0277084 0.707826\n outer loop\n vertex -21.5 -18.4142 9.5\n vertex -21.014 -18.0218 10\n vertex -21.5154 -18.0219 9.5\n endloop\n endfacet\n facet normal -0.70408 -0.0757658 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facet normal -0.554062 -0.436887 0.708622\n outer loop\n vertex -22.4549 -15.4753 9.5\n vertex -22.097 -15.1182 10\n vertex -22.698 -15.167 9.5\n endloop\n endfacet\n facet normal -0.707107 0 0.707107\n outer loop\n vertex -21.5 -18.4142 9.5\n vertex -21 -21.7929 10\n vertex -21 -18.4142 10\n endloop\n endfacet\n facet normal -0.707107 0 0.707107\n outer loop\n vertex -21 -21.7929 10\n vertex -21.5 -18.4142 9.5\n vertex -21.5 -22 9.5\n endloop\n endfacet\n facet normal -0.707107 0 0.707107\n outer loop\n vertex -30 -3.59145 9.5\n vertex -29.5 -7.63604 10\n vertex -29.5 -2.84315 10\n endloop\n endfacet\n facet normal -0.707107 0 0.707107\n outer loop\n vertex -29.5 -7.63604 10\n vertex -30 -3.59145 9.5\n vertex -30 -7.84315 9.5\n endloop\n endfacet\n facet normal -0.707105 0.653283 -0.270598\n outer loop\n vertex -29.5 -2.84315 10\n vertex -29.5 -4.5 6\n vertex -30 -3.59145 9.5\n endloop\n endfacet\n facet normal -0.707109 0.653279 -0.270598\n outer loop\n vertex -30 -3.59145 9.5\n vertex -29.5 -4.5 6\n vertex -30 -5.0412 6\n endloop\n endfacet\n facet normal 1 0 0\n outer loop\n vertex 30 -3.59145 9.5\n vertex 30 -7.84315 9.5\n vertex 30 -5.0412 6\n endloop\n endfacet\n facet normal 1 0 0\n outer loop\n vertex 30 22 9.5\n vertex 30 21.0412 6\n vertex 30 22 0.5\n endloop\n endfacet\n facet normal 1 0 -0\n outer loop\n vertex 30 21.0412 6\n vertex 30 22 9.5\n vertex 30 19.5914 9.5\n endloop\n endfacet\n facet normal 1 0 0\n outer loop\n vertex 30 15.5412 5.5\n vertex 30 21.0412 6\n vertex 30 16.0412 6\n endloop\n endfacet\n facet normal 1 0 0\n outer loop\n vertex 30 21.0412 6\n vertex 30 15.5412 5.5\n vertex 30 22 0.5\n endloop\n endfacet\n facet normal 1 -0 0\n outer loop\n vertex 30 0.458803 5.5\n vertex 30 22 0.5\n vertex 30 15.5412 5.5\n endloop\n endfacet\n facet normal 1 -0 0\n outer loop\n vertex 30 -5.0412 6\n vertex 30 0.458803 5.5\n vertex 30 -0.0411959 6\n endloop\n endfacet\n facet normal 1 0 0\n outer loop\n vertex 30 -7.84315 0.5\n vertex 30 0.458803 5.5\n vertex 30 -5.0412 6\n endloop\n endfacet\n facet normal 1 0 0\n outer loop\n vertex 30 0.458803 5.5\n vertex 30 -7.84315 0.5\n vertex 30 22 0.5\n endloop\n endfacet\n facet normal 1 0 0\n outer loop\n vertex 30 -7.84315 0.5\n vertex 30 -5.0412 6\n vertex 30 -7.84315 9.5\n endloop\n endfacet\n facet normal 0.707109 -0.707104 0\n outer loop\n vertex 22.9645 -14.8787 9.5\n vertex 30 -7.84315 0.5\n vertex 30 -7.84315 9.5\n endloop\n endfacet\n facet normal 0.707109 -0.707104 0\n outer loop\n vertex 30 -7.84315 0.5\n vertex 22.9645 -14.8787 9.5\n vertex 22.9645 -14.8787 0.5\n endloop\n endfacet\n facet normal 0.999891 -0.0147536 0\n outer loop\n vertex 21.5022 -18.2651 5.25\n vertex 21.5 -18.4142 9.5\n vertex 21.5 -18.4142 0.5\n endloop\n endfacet\n facet normal 0.997569 -0.0696739 0.000888654\n outer loop\n vertex 21.5299 -17.8685 5.25\n vertex 21.5154 -18.0219 9.5\n vertex 21.5022 -18.2651 5.25\n endloop\n endfacet\n facet normal 0.988923 -0.148427 0.000883296\n outer loop\n vertex 21.5889 -17.4754 5.25\n vertex 21.5616 -17.632 9.5\n vertex 21.5299 -17.8685 5.25\n endloop\n endfacet\n facet normal 0.973935 -0.226824 0.000892143\n outer loop\n vertex 21.6791 -17.0881 5.25\n vertex 21.6382 -17.247 9.5\n vertex 21.5889 -17.4754 5.25\n endloop\n endfacet\n facet normal 0.952872 -0.30337 0.000924592\n outer loop\n vertex 21.7997 -16.7093 5.25\n vertex 21.7447 -16.8691 9.5\n vertex 21.6791 -17.0881 5.25\n endloop\n endfacet\n facet normal 0.925799 -0.378016 0.00092215\n outer loop\n vertex 21.95 -16.3412 5.25\n vertex 21.8806 -16.5008 9.5\n vertex 21.7997 -16.7093 5.25\n endloop\n endfacet\n facet normal 0.892862 -0.45033 0.000905455\n outer loop\n vertex 22.129 -15.9863 5.25\n vertex 22.045 -16.1443 9.5\n vertex 21.95 -16.3412 5.25\n endloop\n endfacet\n facet normal 0.854101 -0.520106 0.000926948\n outer loop\n vertex 22.3358 -15.6467 5.25\n vertex 22.2368 -15.8017 9.5\n vertex 22.129 -15.9863 5.25\n endloop\n endfacet\n facet normal 0.810234 -0.586105 0.000931667\n outer loop\n vertex 22.5688 -15.3246 5.25\n vertex 22.4549 -15.4753 9.5\n vertex 22.3358 -15.6467 5.25\n endloop\n endfacet\n facet normal 0.761082 -0.648655 0.000916766\n outer loop\n vertex 22.8267 -15.022 5.25\n vertex 22.698 -15.167 9.5\n vertex 22.5688 -15.3246 5.25\n endloop\n endfacet\n facet normal 0.720804 -0.693139 0\n outer loop\n vertex 22.9645 -14.8787 0.5\n vertex 22.9645 -14.8787 9.5\n vertex 22.8267 -15.022 5.25\n endloop\n endfacet\n facet normal 0.734324 -0.678798 -0.000921919\n outer loop\n vertex 22.8267 -15.022 5.25\n vertex 22.9645 -14.8787 9.5\n vertex 22.698 -15.167 9.5\n endloop\n endfacet\n facet normal 0.993053 -0.117669 0.000768656\n outer loop\n vertex 21.5616 -17.632 0.5\n vertex 21.5299 -17.8685 5.25\n vertex 21.5154 -18.0219 0.5\n endloop\n endfacet\n facet normal 0.988923 -0.148427 -0.000790318\n outer loop\n vertex 21.5616 -17.632 0.5\n vertex 21.5889 -17.4754 5.25\n vertex 21.5299 -17.8685 5.25\n endloop\n endfacet\n facet normal 0.980776 -0.195136 0.000796452\n outer loop\n vertex 21.6382 -17.247 0.5\n vertex 21.5889 -17.4754 5.25\n vertex 21.5616 -17.632 0.5\n endloop\n endfacet\n facet normal 0.973935 -0.226824 -0.000798233\n outer loop\n vertex 21.6382 -17.247 0.5\n vertex 21.6791 -17.0881 5.25\n vertex 21.5889 -17.4754 5.25\n endloop\n endfacet\n facet normal 0.962507 -0.271254 0.000786478\n outer loop\n vertex 21.7447 -16.8691 0.5\n vertex 21.6791 -17.0881 5.25\n vertex 21.6382 -17.247 0.5\n endloop\n endfacet\n facet normal 0.938169 -0.346177 0.00078313\n outer loop\n vertex 21.8806 -16.5008 0.5\n vertex 21.7997 -16.7093 5.25\n vertex 21.7447 -16.8691 0.5\n endloop\n endfacet\n facet normal 0.908093 -0.418767 0.00080286\n outer loop\n vertex 22.045 -16.1443 0.5\n vertex 21.95 -16.3412 5.25\n vertex 21.8806 -16.5008 0.5\n endloop\n endfacet\n facet normal 0.872567 -0.488495 0.000818224\n outer loop\n vertex 22.2368 -15.8017 0.5\n vertex 22.129 -15.9863 5.25\n vertex 22.045 -16.1443 0.5\n endloop\n endfacet\n facet normal 0.831462 -0.555581 0.000800089\n outer loop\n vertex 22.4549 -15.4753 0.5\n vertex 22.3358 -15.6467 5.25\n vertex 22.2368 -15.8017 0.5\n endloop\n endfacet\n facet normal 0.785247 -0.619182 0.00081494\n outer loop\n vertex 22.698 -15.167 0.5\n vertex 22.5688 -15.3246 5.25\n vertex 22.4549 -15.4753 0.5\n endloop\n endfacet\n facet normal 0.734325 -0.678798 0.000824875\n outer loop\n vertex 22.9645 -14.8787 0.5\n vertex 22.8267 -15.022 5.25\n vertex 22.698 -15.167 0.5\n endloop\n endfacet\n facet normal 0.761082 -0.648655 -0.000820265\n outer loop\n vertex 22.698 -15.167 0.5\n vertex 22.8267 -15.022 5.25\n vertex 22.5688 -15.3246 5.25\n endloop\n endfacet\n facet normal 0.952873 -0.30337 -0.000827267\n outer loop\n vertex 21.7447 -16.8691 0.5\n vertex 21.7997 -16.7093 5.25\n vertex 21.6791 -17.0881 5.25\n endloop\n endfacet\n facet normal 0.925799 -0.378016 -0.000825082\n outer loop\n vertex 21.8806 -16.5008 0.5\n vertex 21.95 -16.3412 5.25\n vertex 21.7997 -16.7093 5.25\n endloop\n endfacet\n facet normal 0.892862 -0.45033 -0.000810144\n outer loop\n vertex 22.045 -16.1443 0.5\n vertex 22.129 -15.9863 5.25\n vertex 21.95 -16.3412 5.25\n endloop\n endfacet\n facet normal 0.854101 -0.520106 -0.000829374\n outer loop\n vertex 22.2368 -15.8017 0.5\n vertex 22.3358 -15.6467 5.25\n vertex 22.129 -15.9863 5.25\n endloop\n endfacet\n facet normal 0.810234 -0.586106 -0.000833596\n outer loop\n vertex 22.4549 -15.4753 0.5\n vertex 22.5688 -15.3246 5.25\n vertex 22.3358 -15.6467 5.25\n endloop\n endfacet\n facet normal 0.785247 -0.619181 -0.000910816\n outer loop\n vertex 22.5688 -15.3246 5.25\n vertex 22.698 -15.167 9.5\n vertex 22.4549 -15.4753 9.5\n endloop\n endfacet\n facet normal 0.831462 -0.555581 -0.000894217\n outer loop\n vertex 22.3358 -15.6467 5.25\n vertex 22.4549 -15.4753 9.5\n vertex 22.2368 -15.8017 9.5\n endloop\n endfacet\n facet normal 0.872566 -0.488495 -0.000914485\n outer loop\n vertex 22.129 -15.9863 5.25\n vertex 22.2368 -15.8017 9.5\n vertex 22.045 -16.1443 9.5\n endloop\n endfacet\n facet normal 0.908093 -0.418767 -0.000897314\n outer loop\n vertex 21.95 -16.3412 5.25\n vertex 22.045 -16.1443 9.5\n vertex 21.8806 -16.5008 9.5\n endloop\n endfacet\n facet normal 0.938169 -0.346177 -0.000875262\n outer loop\n vertex 21.7997 -16.7093 5.25\n vertex 21.8806 -16.5008 9.5\n vertex 21.7447 -16.8691 9.5\n endloop\n endfacet\n facet normal 0.962507 -0.271254 -0.000879005\n outer loop\n vertex 21.6791 -17.0881 5.25\n vertex 21.7447 -16.8691 9.5\n vertex 21.6382 -17.247 9.5\n endloop\n endfacet\n facet normal 0.980776 -0.195136 -0.000890152\n outer loop\n vertex 21.5889 -17.4754 5.25\n vertex 21.6382 -17.247 9.5\n vertex 21.5616 -17.632 9.5\n endloop\n endfacet\n facet normal 0.993053 -0.117669 -0.000859086\n outer loop\n vertex 21.5299 -17.8685 5.25\n vertex 21.5616 -17.632 9.5\n vertex 21.5154 -18.0219 9.5\n endloop\n endfacet\n facet normal 0.99923 -0.0392254 -0.000858872\n outer loop\n vertex 21.5022 -18.2651 5.25\n vertex 21.5154 -18.0219 9.5\n vertex 21.5 -18.4142 9.5\n endloop\n endfacet\n facet normal 0.99923 -0.0392254 0.000768465\n outer loop\n vertex 21.5154 -18.0219 0.5\n vertex 21.5022 -18.2651 5.25\n vertex 21.5 -18.4142 0.5\n endloop\n endfacet\n facet normal 0.99757 -0.0696739 -0.000795111\n outer loop\n vertex 21.5154 -18.0219 0.5\n vertex 21.5299 -17.8685 5.25\n vertex 21.5022 -18.2651 5.25\n endloop\n endfacet\n facet normal 1 -0 0\n outer loop\n vertex 21.5 -22 9.5\n vertex 21.5 -18.4142 0.5\n vertex 21.5 -18.4142 9.5\n endloop\n endfacet\n facet normal 1 0 0\n outer loop\n vertex 21.5 -18.4142 0.5\n vertex 21.5 -22 9.5\n vertex 21.5 -22 0.5\n endloop\n endfacet\n facet normal 0.707107 -0.707107 0\n outer loop\n vertex 18.5 -25 9.5\n vertex 21.5 -22 0.5\n vertex 21.5 -22 9.5\n endloop\n endfacet\n facet normal 0.707107 -0.707107 0\n outer loop\n vertex 21.5 -22 0.5\n vertex 18.5 -25 9.5\n vertex 18.5 -25 0.5\n endloop\n endfacet\n facet normal 0 -1 0\n outer loop\n vertex -18.5 -25 0.5\n vertex 18.5 -25 9.5\n vertex -18.5 -25 9.5\n endloop\n endfacet\n facet normal 0 -1 -0\n outer loop\n vertex 18.5 -25 9.5\n vertex -18.5 -25 0.5\n vertex 18.5 -25 0.5\n endloop\n endfacet\n facet normal -0.707107 -0.707107 0\n outer loop\n vertex -18.5 -25 0.5\n vertex -21.5 -22 9.5\n vertex -21.5 -22 0.5\n endloop\n endfacet\n facet normal -0.707107 -0.707107 0\n outer loop\n vertex -21.5 -22 9.5\n vertex -18.5 -25 0.5\n vertex -18.5 -25 9.5\n endloop\n endfacet\n facet normal -0.707107 -0.653277 -0.270606\n outer loop\n vertex -30 21.0412 6\n vertex -29.5 20.5 6\n vertex -30 19.5914 9.5\n endloop\n endfacet\n facet normal -0.7071 -0.653285 -0.270607\n outer loop\n vertex -29.5 20.5 6\n vertex -29.5 18.8431 10\n vertex -30 19.5914 9.5\n endloop\n endfacet\n facet normal -0.707107 0 0.707107\n outer loop\n vertex -30 19.5914 9.5\n vertex -29.5 21.7929 10\n vertex -30 22 9.5\n endloop\n endfacet\n facet normal -0.707107 0 0.707107\n outer loop\n vertex -29.5 21.7929 10\n vertex -30 19.5914 9.5\n vertex -29.5 18.8431 10\n endloop\n endfacet\n facet normal -0.500002 0.500002 0.707103\n outer loop\n vertex -27 25 9.5\n vertex -29.5 21.7929 10\n vertex -26.7929 24.5 10\n endloop\n endfacet\n facet normal -0.500002 0.500002 0.707103\n outer loop\n vertex -29.5 21.7929 10\n vertex -27 25 9.5\n vertex -30 22 9.5\n endloop\n endfacet\n facet normal -0 0.707107 0.707107\n outer loop\n vertex 3.5 25 9.5\n vertex 26.7929 24.5 10\n vertex 27 25 9.5\n endloop\n endfacet\n facet normal 0 0.707107 0.707107\n outer loop\n vertex 26.7929 24.5 10\n vertex 3.5 25 9.5\n vertex 3 24.5 10\n endloop\n endfacet\n facet normal 0 0.707107 0.707107\n outer loop\n vertex -3.5 25 9.5\n vertex -26.7929 24.5 10\n vertex -3 24.5 10\n endloop\n endfacet\n facet normal 0 0.707107 0.707107\n outer loop\n vertex -26.7929 24.5 10\n vertex -3.5 25 9.5\n vertex -27 25 9.5\n endloop\n endfacet\n facet normal 0.500002 0.500002 0.707103\n outer loop\n vertex 27 25 9.5\n vertex 29.5 21.7929 10\n vertex 30 22 9.5\n endloop\n endfacet\n facet normal 0.500002 0.500002 0.707103\n outer loop\n vertex 29.5 21.7929 10\n vertex 27 25 9.5\n vertex 26.7929 24.5 10\n endloop\n endfacet\n facet normal 0.707107 0 0.707107\n outer loop\n vertex 29.5 21.7929 10\n vertex 30 19.5914 9.5\n vertex 30 22 9.5\n endloop\n endfacet\n facet normal 0.707107 0 0.707107\n outer loop\n vertex 30 19.5914 9.5\n vertex 29.5 21.7929 10\n vertex 29.5 18.8431 10\n endloop\n endfacet\n facet normal 0.7071 -0.653285 -0.270607\n outer loop\n vertex 29.5 20.5 6\n vertex 30 19.5914 9.5\n vertex 29.5 18.8431 10\n endloop\n endfacet\n facet normal 0.707107 -0.653277 -0.270606\n outer loop\n vertex 30 21.0412 6\n vertex 30 19.5914 9.5\n vertex 29.5 20.5 6\n endloop\n endfacet\n facet normal 0.367597 0.601617 0.709175\n outer loop\n vertex -4.46893 0.187916 5.5\n vertex -4.91227 0.458803 5.5\n vertex -5.05857 -0.0411959 6\n endloop\n endfacet\n facet normal 0.36061 0.610616 0.705059\n outer loop\n 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6\n vertex 3.05572 -0.465374 5.5\n endloop\n endfacet\n facet normal -0.289776 0.646901 0.705372\n outer loop\n vertex 3.63875 -0.775504 6\n vertex 4.12553 -0.557453 6\n vertex 3.53911 -0.274944 5.5\n endloop\n endfacet\n facet normal -0.325703 0.62976 0.705209\n outer loop\n vertex 4.12553 -0.557453 6\n vertex 4.5993 -0.312426 6\n vertex 4.0107 -0.0569382 5.5\n endloop\n endfacet\n facet normal -0.36061 0.610616 0.705059\n outer loop\n vertex 4.5993 -0.312426 6\n vertex 5.05857 -0.0411959 6\n vertex 4.46893 0.187916 5.5\n endloop\n endfacet\n facet normal -0.367597 0.601617 0.709175\n outer loop\n vertex 5.05857 -0.0411959 6\n vertex 4.91227 0.458803 5.5\n vertex 4.46893 0.187916 5.5\n endloop\n endfacet\n facet normal 0.332339 0.621952 0.709032\n outer loop\n vertex -4.0107 -0.0569382 5.5\n vertex -4.46893 0.187916 5.5\n vertex -4.5993 -0.312426 6\n endloop\n endfacet\n facet normal 0.295968 0.640239 0.70887\n outer loop\n vertex -3.53911 -0.274944 5.5\n vertex -4.0107 -0.0569382 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-1.03693 -0.940065 5.5\n vertex -1.06466 -1.44015 6\n endloop\n endfacet\n facet normal 0.0204067 0.706658 0.707261\n outer loop\n vertex 0 -1 5.5\n vertex -0.519328 -0.985003 5.5\n vertex -0.533173 -1.48503 6\n endloop\n endfacet\n facet normal -0.101609 0.699064 0.707803\n outer loop\n vertex 1.5928 -1.36552 6\n vertex 1.55107 -0.865335 5.5\n vertex 1.03693 -0.940065 5.5\n endloop\n endfacet\n facet normal -0.141726 0.691791 0.708053\n outer loop\n vertex 2.11591 -1.26137 6\n vertex 2.06004 -0.761063 5.5\n vertex 1.55107 -0.865335 5.5\n endloop\n endfacet\n facet normal -0.18135 0.682237 0.708283\n outer loop\n vertex 2.63236 -1.12802 6\n vertex 2.56215 -0.627594 5.5\n vertex 2.06004 -0.761063 5.5\n endloop\n endfacet\n facet normal -0.220349 0.670434 0.708495\n outer loop\n vertex 3.14051 -0.965892 6\n vertex 3.05572 -0.465374 5.5\n vertex 2.56215 -0.627594 5.5\n endloop\n endfacet\n facet normal -0.258595 0.656421 0.708689\n outer loop\n vertex 3.63875 -0.775504 6\n vertex 3.53911 -0.274944 5.5\n vertex 3.05572 -0.465374 5.5\n endloop\n endfacet\n facet normal -0.295968 0.640239 0.70887\n outer loop\n vertex 4.12553 -0.557453 6\n vertex 4.0107 -0.0569382 5.5\n vertex 3.53911 -0.274944 5.5\n endloop\n endfacet\n facet normal -0.332339 0.621952 0.709032\n outer loop\n vertex 4.5993 -0.312426 6\n vertex 4.46893 0.187916 5.5\n vertex 4.0107 -0.0569382 5.5\n endloop\n endfacet\n facet normal -0.706847 0.0270863 0.706847\n outer loop\n vertex 5.2346 7.59812 2\n vertex 5.25 8 2\n vertex 4.75 8 1.5\n endloop\n endfacet\n facet normal -0.706261 0.0284559 0.70738\n outer loop\n vertex 5.2346 7.59812 2\n vertex 4.75 8 1.5\n vertex 4.7346 7.61778 1.5\n endloop\n endfacet\n facet normal -0.703174 0.081189 0.706367\n outer loop\n vertex 5.18847 7.19859 2\n vertex 5.2346 7.59812 2\n vertex 4.7346 7.61778 1.5\n endloop\n endfacet\n facet normal -0.701185 0.0851438 0.707877\n outer loop\n vertex 5.18847 7.19859 2\n vertex 4.7346 7.61778 1.5\n vertex 4.68849 7.23805 1.5\n endloop\n endfacet\n facet normal -0.695321 0.134848 0.705935\n outer loop\n vertex 5.1119 6.80377 2\n vertex 5.18847 7.19859 2\n vertex 4.68849 7.23805 1.5\n endloop\n endfacet\n facet normal -0.691622 0.141203 0.708323\n outer loop\n vertex 5.1119 6.80377 2\n vertex 4.68849 7.23805 1.5\n vertex 4.61197 6.86325 1.5\n endloop\n endfacet\n facet normal -0.677653 0.196276 0.708704\n outer loop\n vertex 5.00533 6.41597 2\n vertex 4.61197 6.86325 1.5\n vertex 4.50555 6.49583 1.5\n endloop\n endfacet\n facet normal -0.659346 0.250064 0.709036\n outer loop\n vertex 4.86939 6.03746 2\n vertex 4.50555 6.49583 1.5\n vertex 4.3699 6.13816 1.5\n endloop\n endfacet\n facet normal -0.636854 0.302174 0.709301\n outer loop\n vertex 4.70487 5.67047 2\n vertex 4.3699 6.13816 1.5\n vertex 4.20592 5.79256 1.5\n endloop\n endfacet\n facet normal -0.610269 0.35236 0.709517\n outer loop\n vertex 4.51274 5.31715 2\n vertex 4.20592 5.79256 1.5\n vertex 4.01465 5.46129 1.5\n endloop\n endfacet\n facet normal -0.579823 0.400214 0.709672\n outer loop\n vertex 4.29413 4.97958 2\n vertex 4.01465 5.46129 1.5\n vertex 3.79735 5.14647 1.5\n endloop\n endfacet\n facet normal -0.545659 0.445514 0.70977\n outer loop\n vertex 4.05032 4.65973 2\n vertex 3.79735 5.14647 1.5\n vertex 3.55543 4.85017 1.5\n endloop\n endfacet\n facet normal -0.508004 0.487951 0.709814\n outer loop\n vertex 3.78274 4.35948 2\n vertex 3.55543 4.85017 1.5\n vertex 3.29044 4.57429 1.5\n endloop\n endfacet\n facet normal -0.46711 0.527253 0.709797\n outer loop\n vertex 3.49296 4.0806 2\n vertex 3.29044 4.57429 1.5\n vertex 3.00412 4.32063 1.5\n endloop\n endfacet\n facet normal -0.423206 0.563189 0.709729\n outer loop\n vertex 3.18268 3.82471 2\n vertex 3.00412 4.32063 1.5\n vertex 2.69831 4.09083 1.5\n endloop\n endfacet\n facet normal -0.376587 0.595522 0.709603\n outer loop\n vertex 2.85373 3.59333 2\n vertex 2.69831 4.09083 1.5\n vertex 2.375 3.88638 1.5\n endloop\n endfacet\n facet normal -0.327534 0.624058 0.709417\n outer loop\n vertex 2.50803 3.38781 2\n vertex 2.375 3.88638 1.5\n vertex 2.03629 3.70861 1.5\n endloop\n endfacet\n facet normal -0.276352 0.648618 0.709172\n outer loop\n vertex 2.14761 3.20936 2\n vertex 2.03629 3.70861 1.5\n vertex 1.68437 3.55867 1.5\n endloop\n endfacet\n facet normal -0.223349 0.669033 0.708879\n outer loop\n vertex 1.77459 3.05901 2\n vertex 1.68437 3.55867 1.5\n vertex 1.32153 3.43754 1.5\n endloop\n endfacet\n facet normal -0.168893 0.685182 0.70852\n outer loop\n vertex 1.39115 2.93767 2\n vertex 1.32153 3.43754 1.5\n vertex 0.950122 3.34599 1.5\n endloop\n endfacet\n facet normal -0.113265 0.696963 0.708105\n outer loop\n vertex 0.999553 2.84603 2\n vertex 0.950122 3.34599 1.5\n vertex 0.572549 3.28463 1.5\n endloop\n endfacet\n facet normal -0.056855 0.704289 0.707633\n outer loop\n vertex 0.602088 2.78464 2\n vertex 0.572549 3.28463 1.5\n vertex 0.191263 3.25385 1.5\n endloop\n endfacet\n facet normal 0.0541733 0.705536 0.706601\n outer loop\n vertex -0.201089 2.75385 2\n vertex -0.191263 3.25385 1.5\n vertex -0.602088 2.78464 2\n endloop\n endfacet\n facet normal 0 0.707107 0.707107\n outer loop\n vertex 0.191263 3.25385 1.5\n vertex -0.201089 2.75385 2\n vertex 0.201089 2.75385 2\n endloop\n endfacet\n facet normal 0 0.707107 0.707107\n outer loop\n vertex -0.201089 2.75385 2\n vertex 0.191263 3.25385 1.5\n vertex -0.191263 3.25385 1.5\n endloop\n endfacet\n facet normal -0.706847 -0.0270863 0.706847\n outer loop\n vertex 5.25 8 2\n vertex 5.2346 8.40188 2\n vertex 4.75 8 1.5\n endloop\n endfacet\n facet normal -0.683397 -0.0789055 0.72577\n outer loop\n vertex 5.2346 8.40188 2\n vertex 5.18847 8.80141 2\n vertex 4.75 8 1.5\n endloop\n endfacet\n facet normal -0.701185 -0.0851438 0.707877\n outer loop\n vertex 4.7346 8.38222 1.5\n vertex 5.18847 8.80141 2\n vertex 4.68849 8.76195 1.5\n endloop\n endfacet\n facet normal -0.727762 -0.0293222 0.685202\n outer loop\n vertex 4.75 8 1.5\n vertex 5.18847 8.80141 2\n vertex 4.7346 8.38222 1.5\n endloop\n endfacet\n facet normal -0.695321 -0.134848 0.705935\n outer loop\n vertex 5.18847 8.80141 2\n vertex 5.1119 9.19623 2\n vertex 4.68849 8.76195 1.5\n endloop\n endfacet\n facet normal -0.691622 -0.141203 0.708323\n outer loop\n vertex 4.68849 8.76195 1.5\n vertex 5.1119 9.19623 2\n vertex 4.61197 9.13675 1.5\n endloop\n endfacet\n facet normal -0.683318 -0.18778 0.70556\n outer loop\n vertex 5.1119 9.19623 2\n vertex 5.00533 9.58403 2\n vertex 4.61197 9.13675 1.5\n endloop\n endfacet\n facet normal -0.66725 -0.239639 0.705231\n outer loop\n vertex 5.00533 9.58403 2\n vertex 4.86939 9.96254 2\n vertex 4.50555 9.50417 1.5\n endloop\n endfacet\n facet normal -0.647182 -0.290153 0.704959\n outer loop\n vertex 4.86939 9.96254 2\n vertex 4.70487 10.3295 2\n vertex 4.3699 9.86184 1.5\n endloop\n endfacet\n facet normal -0.623272 -0.338945 0.704733\n outer loop\n vertex 4.70487 10.3295 2\n vertex 4.51274 10.6828 2\n vertex 4.20592 10.2074 1.5\n endloop\n endfacet\n facet normal -0.595668 -0.38572 0.704557\n outer loop\n vertex 4.51274 10.6828 2\n vertex 4.29413 11.0204 2\n vertex 4.01465 10.5387 1.5\n endloop\n endfacet\n facet normal -0.564487 -0.430221 0.70446\n outer loop\n vertex 4.29413 11.0204 2\n vertex 4.05032 11.3403 2\n vertex 3.79735 10.8535 1.5\n endloop\n endfacet\n facet normal -0.52987 -0.472294 0.704398\n outer loop\n vertex 4.05032 11.3403 2\n vertex 3.78274 11.6405 2\n vertex 3.55543 11.1498 1.5\n endloop\n endfacet\n facet normal -0.492236 -0.511438 0.704369\n outer loop\n vertex 3.78274 11.6405 2\n vertex 3.49296 11.9194 2\n vertex 3.29044 11.4257 1.5\n endloop\n endfacet\n facet normal -0.451626 -0.547599 0.704393\n outer loop\n vertex 3.49296 11.9194 2\n vertex 3.18268 12.1753 2\n vertex 3.00412 11.6794 1.5\n endloop\n endfacet\n facet normal -0.408334 -0.580472 0.704497\n outer loop\n vertex 3.18268 12.1753 2\n vertex 2.85373 12.4067 2\n vertex 2.69831 11.9092 1.5\n endloop\n endfacet\n facet normal -0.36256 -0.609913 0.704668\n outer loop\n vertex 2.85373 12.4067 2\n vertex 2.50803 12.6122 2\n vertex 2.375 12.1136 1.5\n endloop\n endfacet\n facet normal -0.314692 -0.63577 0.704816\n outer loop\n vertex 2.50803 12.6122 2\n vertex 2.14761 12.7906 2\n vertex 2.03629 12.2914 1.5\n endloop\n endfacet\n facet normal -0.265164 -0.657656 0.705108\n outer loop\n vertex 2.14761 12.7906 2\n vertex 1.77459 12.941 2\n vertex 1.68437 12.4413 1.5\n endloop\n endfacet\n facet normal -0.213803 -0.675849 0.705349\n outer loop\n vertex 1.77459 12.941 2\n vertex 1.39115 13.0623 2\n vertex 1.32153 12.5625 1.5\n endloop\n endfacet\n facet normal -0.161528 -0.689791 0.70576\n outer loop\n vertex 1.39115 13.0623 2\n vertex 0.999553 13.154 2\n vertex 0.950122 12.654 1.5\n endloop\n endfacet\n facet normal -0.108099 -0.699763 0.706149\n outer loop\n vertex 0.999553 13.154 2\n vertex 0.602088 13.2154 2\n vertex 0.572549 12.7154 1.5\n endloop\n endfacet\n facet normal -0.0540156 -0.705544 0.706605\n outer loop\n vertex 0.602088 13.2154 2\n vertex 0.201089 13.2461 2\n vertex 0.191263 12.7461 1.5\n endloop\n endfacet\n facet normal 0 -0.707107 0.707107\n outer loop\n vertex -0.191263 12.7461 1.5\n vertex 0.201089 13.2461 2\n vertex -0.201089 13.2461 2\n endloop\n endfacet\n facet normal 0 -0.707107 0.707107\n outer loop\n vertex 0.201089 13.2461 2\n vertex -0.191263 12.7461 1.5\n vertex 0.191263 12.7461 1.5\n endloop\n endfacet\n facet normal 0.0540156 -0.705544 0.706605\n outer loop\n vertex -0.191263 12.7461 1.5\n vertex -0.201089 13.2461 2\n vertex -0.602088 13.2154 2\n endloop\n endfacet\n facet normal 0.0567075 -0.704292 0.707642\n outer loop\n vertex -0.572549 12.7154 1.5\n vertex -0.191263 12.7461 1.5\n vertex -0.602088 13.2154 2\n endloop\n endfacet\n facet normal 0.108099 -0.699763 0.706149\n outer loop\n vertex -0.572549 12.7154 1.5\n vertex -0.602088 13.2154 2\n vertex -0.999553 13.154 2\n endloop\n endfacet\n facet normal 0.161528 -0.689791 0.70576\n outer loop\n vertex -0.950122 12.654 1.5\n vertex -0.999553 13.154 2\n vertex -1.39115 13.0623 2\n endloop\n endfacet\n facet normal 0.213803 -0.675849 0.705349\n outer loop\n vertex -1.32153 12.5625 1.5\n vertex -1.39115 13.0623 2\n vertex -1.77459 12.941 2\n endloop\n endfacet\n facet normal 0.265164 -0.657656 0.705108\n outer loop\n vertex -1.68437 12.4413 1.5\n vertex -1.77459 12.941 2\n vertex -2.14761 12.7906 2\n endloop\n endfacet\n facet normal 0.314692 -0.63577 0.704816\n outer loop\n vertex -2.03629 12.2914 1.5\n vertex -2.14761 12.7906 2\n vertex -2.50803 12.6122 2\n endloop\n endfacet\n facet normal 0.36256 -0.609913 0.704668\n outer loop\n vertex -2.375 12.1136 1.5\n vertex -2.50803 12.6122 2\n vertex -2.85373 12.4067 2\n endloop\n endfacet\n facet normal 0.408334 -0.580472 0.704497\n outer loop\n vertex -2.69831 11.9092 1.5\n vertex -2.85373 12.4067 2\n vertex -3.18268 12.1753 2\n endloop\n endfacet\n facet normal 0.451626 -0.547599 0.704393\n outer loop\n vertex -3.00412 11.6794 1.5\n vertex -3.18268 12.1753 2\n vertex -3.49296 11.9194 2\n endloop\n endfacet\n facet normal 0.492236 -0.511438 0.704369\n outer loop\n vertex -3.29044 11.4257 1.5\n vertex -3.49296 11.9194 2\n vertex -3.78274 11.6405 2\n endloop\n endfacet\n facet normal 0.52987 -0.472294 0.704398\n outer loop\n vertex -3.55543 11.1498 1.5\n vertex -3.78274 11.6405 2\n vertex -4.05032 11.3403 2\n endloop\n endfacet\n facet normal 0.564487 -0.430221 0.70446\n outer loop\n vertex -3.79735 10.8535 1.5\n vertex -4.05032 11.3403 2\n vertex -4.29413 11.0204 2\n endloop\n endfacet\n facet normal 0.595668 -0.38572 0.704557\n outer loop\n vertex -4.01465 10.5387 1.5\n vertex -4.29413 11.0204 2\n vertex -4.51274 10.6828 2\n endloop\n endfacet\n facet normal 0.623272 -0.338945 0.704733\n outer loop\n vertex -4.20592 10.2074 1.5\n vertex -4.51274 10.6828 2\n vertex -4.70487 10.3295 2\n endloop\n endfacet\n facet normal 0.647182 -0.290153 0.704959\n outer loop\n vertex -4.3699 9.86184 1.5\n vertex -4.70487 10.3295 2\n vertex 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0.0284559 0.70738\n outer loop\n vertex -4.7346 7.61778 1.5\n vertex -4.75 8 1.5\n vertex -5.2346 7.59812 2\n endloop\n endfacet\n facet normal 0.703174 0.081189 0.706367\n outer loop\n vertex -5.18847 7.19859 2\n vertex -4.7346 7.61778 1.5\n vertex -5.2346 7.59812 2\n endloop\n endfacet\n facet normal 0.701185 0.0851438 0.707877\n outer loop\n vertex -4.68849 7.23805 1.5\n vertex -4.7346 7.61778 1.5\n vertex -5.18847 7.19859 2\n endloop\n endfacet\n facet normal 0.695321 0.134848 0.705935\n outer loop\n vertex -5.1119 6.80377 2\n vertex -4.68849 7.23805 1.5\n vertex -5.18847 7.19859 2\n endloop\n endfacet\n facet normal 0.683318 0.18778 0.70556\n outer loop\n vertex -5.00533 6.41597 2\n vertex -4.61197 6.86325 1.5\n vertex -5.1119 6.80377 2\n endloop\n endfacet\n facet normal 0.66725 0.239639 0.705231\n outer loop\n vertex -4.86939 6.03746 2\n vertex -4.50555 6.49583 1.5\n vertex -5.00533 6.41597 2\n endloop\n endfacet\n facet normal 0.647189 0.290132 0.704961\n outer loop\n vertex 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11.3403 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -7.0247 13.6262 2\n vertex -4.05032 11.3403 2\n vertex -6.68241 14.0287 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.05032 11.3403 2\n vertex -7.0247 13.6262 2\n vertex -4.29413 11.0204 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -7.34278 13.2042 2\n vertex -4.29413 11.0204 2\n vertex -7.0247 13.6262 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -7.63554 12.7643 2\n vertex -4.29413 11.0204 2\n vertex -7.34278 13.2042 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.29413 11.0204 2\n vertex -7.63554 12.7643 2\n vertex -4.51274 10.6828 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -7.90199 12.308 2\n vertex -4.51274 10.6828 2\n vertex -7.63554 12.7643 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 7.77211 3.46191 2\n vertex 4.51274 5.31715 2\n vertex 7.49239 3.01361 2\n endloop\n 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vertex 3.49296 4.0806 2\n vertex 6.12617 1.40681 2\n vertex 3.78274 4.35948 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 6.12617 1.40681 2\n vertex 3.49296 4.0806 2\n vertex 5.72867 1.05865 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 3.18268 3.82471 2\n vertex 5.72867 1.05865 2\n vertex 3.49296 4.0806 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 5.72867 1.05865 2\n vertex 3.18268 3.82471 2\n vertex 5.31142 0.73441 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 2.85373 3.59333 2\n vertex 5.31142 0.73441 2\n vertex 3.18268 3.82471 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 5.31142 0.73441 2\n vertex 2.85373 3.59333 2\n vertex 4.87587 0.435218 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 4.87587 0.435218 2\n vertex 2.85373 3.59333 2\n vertex 4.4235 0.162104 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 2.50803 3.38781 2\n vertex 4.4235 0.162104 2\n vertex 2.85373 3.59333 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 4.4235 0.162104 2\n vertex 2.50803 3.38781 2\n vertex 3.95589 -0.0839911 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 2.14761 3.20936 2\n vertex 3.95589 -0.0839911 2\n vertex 2.50803 3.38781 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3.95589 -0.0839911 2\n vertex 2.14761 3.20936 2\n vertex 3.47464 -0.302219 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 1.77459 3.05901 2\n vertex 3.47464 -0.302219 2\n vertex 2.14761 3.20936 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3.47464 -0.302219 2\n vertex 1.77459 3.05901 2\n vertex 2.98142 -0.491828 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 2.98142 -0.491828 2\n vertex 1.77459 3.05901 2\n vertex 2.47791 -0.652164 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 1.39115 2.93767 2\n vertex 2.47791 -0.652164 2\n vertex 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-1.39115 2.93767 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -0.999553 2.84603 2\n vertex -1.70719 -0.836599 2\n vertex -1.18565 -0.921559 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -2.73084 -0.575692 2\n vertex -1.39115 2.93767 2\n vertex -1.77459 3.05901 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3.22942 -0.400644 2\n vertex -1.77459 3.05901 2\n vertex -2.14761 3.20936 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -0.999553 2.84603 2\n vertex -2.22285 -0.721177 2\n vertex -1.70719 -0.836599 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.1915 0.0356236 2\n vertex -2.14761 3.20936 2\n vertex -2.50803 3.38781 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -1.39115 2.93767 2\n vertex -2.73084 -0.575692 2\n vertex -2.22285 -0.721177 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.65169 0.295341 2\n vertex -2.50803 3.38781 2\n vertex -2.85373 3.59333 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -5.09584 0.581616 2\n vertex -2.85373 3.59333 2\n vertex -3.18268 3.82471 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -1.77459 3.05901 2\n vertex -3.22942 -0.400644 2\n vertex -2.73084 -0.575692 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -5.52242 0.893466 2\n vertex -3.18268 3.82471 2\n vertex -3.49296 4.0806 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -2.14761 3.20936 2\n vertex -3.71687 -0.196637 2\n vertex -3.22942 -0.400644 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -6.31708 1.5895 2\n vertex -3.49296 4.0806 2\n vertex -3.78274 4.35948 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -6.68241 1.97128 2\n vertex -3.78274 4.35948 2\n vertex -4.05032 4.65973 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -2.14761 3.20936 2\n vertex -4.1915 0.0356236 2\n vertex -3.71687 -0.196637 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7.0247 2.37385 2\n vertex -4.05032 4.65973 2\n vertex -4.29413 4.97958 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7.63554 3.23571 2\n vertex -4.29413 4.97958 2\n vertex -4.51274 5.31715 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -2.50803 3.38781 2\n vertex -4.65169 0.295341 2\n vertex -4.1915 0.0356236 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -7.90199 3.69203 2\n vertex -4.51274 5.31715 2\n vertex -4.70487 5.67047 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -8.14119 4.16321 2\n vertex -4.70487 5.67047 2\n vertex -4.86939 6.03746 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -8.53468 5.14356 2\n vertex -4.86939 6.03746 2\n vertex -5.00533 6.41597 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -2.85373 3.59333 2\n vertex -5.09584 0.581616 2\n vertex -4.65169 0.295341 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -8.68761 5.64937 2\n vertex -5.00533 6.41597 2\n vertex -5.1119 6.80377 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -8.81059 6.16327 2\n vertex -5.1119 6.80377 2\n vertex -5.18847 7.19859 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -8.90319 6.68351 2\n vertex -5.18847 7.19859 2\n vertex -5.2346 7.59812 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -8.99612 7.73579 2\n vertex -5.2346 7.59812 2\n vertex -5.25 8 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.51274 10.6828 2\n vertex -7.90199 12.308 2\n vertex -4.70487 10.3295 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3.18268 3.82471 2\n vertex -5.52242 0.893466 2\n vertex -5.09584 0.581616 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -8.14119 11.8368 2\n vertex -4.70487 10.3295 2\n vertex -7.90199 12.308 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3.49296 4.0806 2\n vertex -5.92997 1.22981 2\n vertex -5.52242 0.893466 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.70487 10.3295 2\n vertex -8.14119 11.8368 2\n vertex -4.86939 9.96254 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3.49296 4.0806 2\n vertex -6.31708 1.5895 2\n vertex -5.92997 1.22981 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -8.35233 11.3524 2\n vertex -4.86939 9.96254 2\n vertex -8.14119 11.8368 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3.78274 4.35948 2\n vertex -6.68241 1.97128 2\n vertex -6.31708 1.5895 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -8.53468 10.8564 2\n vertex -4.86939 9.96254 2\n vertex -8.35233 11.3524 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.05032 4.65973 2\n vertex -7.0247 2.37385 2\n vertex -6.68241 1.97128 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.86939 9.96254 2\n vertex -8.53468 10.8564 2\n vertex -5.00533 9.58403 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.29413 4.97958 2\n vertex -7.34278 2.79581 2\n vertex -7.0247 2.37385 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -8.68761 10.3506 2\n vertex -5.00533 9.58403 2\n vertex -8.53468 10.8564 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.29413 4.97958 2\n vertex -7.63554 3.23571 2\n vertex -7.34278 2.79581 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -5.00533 9.58403 2\n vertex -8.68761 10.3506 2\n vertex -5.1119 9.19623 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.51274 5.31715 2\n vertex -7.90199 3.69203 2\n vertex -7.63554 3.23571 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -8.81059 9.83673 2\n vertex -5.1119 9.19623 2\n vertex -8.68761 10.3506 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.70487 5.67047 2\n vertex -8.14119 4.16321 2\n vertex -7.90199 3.69203 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -5.1119 9.19623 2\n vertex -8.81059 9.83673 2\n vertex -5.18847 8.80141 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.86939 6.03746 2\n vertex -8.35233 4.6476 2\n vertex -8.14119 4.16321 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -8.90319 9.31649 2\n vertex -5.18847 8.80141 2\n vertex -8.81059 9.83673 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -4.86939 6.03746 2\n vertex -8.53468 5.14356 2\n vertex -8.35233 4.6476 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -5.18847 8.80141 2\n vertex -8.90319 9.31649 2\n vertex -5.2346 8.40188 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -5.00533 6.41597 2\n vertex -8.68761 5.64937 2\n vertex -8.53468 5.14356 2\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -8.96511 8.79171 2\n vertex -5.2346 8.40188 2\n vertex -8.90319 9.31649 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -5.1119 6.80377 2\n vertex -8.81059 6.16327 2\n vertex -8.68761 5.64937 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -8.99612 8.26421 2\n vertex -5.2346 8.40188 2\n vertex -8.96511 8.79171 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -5.18847 7.19859 2\n vertex -8.90319 6.68351 2\n vertex -8.81059 6.16327 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -5.2346 8.40188 2\n vertex -8.99612 8.26421 2\n vertex -5.25 8 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -5.2346 7.59812 2\n vertex -8.96511 7.20829 2\n vertex -8.90319 6.68351 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -8.99612 7.73579 2\n vertex -5.25 8 2\n vertex -8.99612 8.26421 2\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -5.2346 7.59812 2\n vertex -8.99612 7.73579 2\n vertex -8.96511 7.20829 2\n endloop\n endfacet\n facet normal 0.706261 0.0284559 -0.70738\n outer loop\n vertex -4.75 8 0.5\n vertex -4.7346 7.61778 0.5\n vertex -5.2346 7.59812 0\n endloop\n endfacet\n facet normal 0.703174 0.081189 -0.706367\n outer loop\n vertex -4.7346 7.61778 0.5\n vertex -5.18847 7.19859 0\n vertex -5.2346 7.59812 0\n endloop\n endfacet\n facet normal 0.701185 0.0851438 -0.707877\n outer loop\n vertex -4.7346 7.61778 0.5\n vertex -4.68849 7.23805 0.5\n vertex -5.18847 7.19859 0\n endloop\n endfacet\n facet normal 0.695321 0.134848 -0.705935\n outer loop\n vertex -4.68849 7.23805 0.5\n vertex -5.1119 6.80377 0\n vertex -5.18847 7.19859 0\n endloop\n endfacet\n facet normal 0.691622 0.141203 -0.708323\n outer loop\n vertex -4.68849 7.23805 0.5\n vertex -4.61197 6.86325 0.5\n vertex -5.1119 6.80377 0\n endloop\n endfacet\n facet normal 0.677653 0.196276 -0.708704\n outer loop\n vertex -4.61197 6.86325 0.5\n vertex -4.50555 6.49583 0.5\n vertex -5.00533 6.41597 0\n endloop\n endfacet\n facet normal 0.659346 0.250064 -0.709036\n outer loop\n vertex -4.50555 6.49583 0.5\n vertex -4.3699 6.13816 0.5\n vertex -4.86939 6.03746 0\n endloop\n endfacet\n facet normal 0.636854 0.302174 -0.709301\n outer loop\n vertex -4.3699 6.13816 0.5\n vertex -4.20592 5.79256 0.5\n vertex -4.70487 5.67047 0\n endloop\n endfacet\n facet normal 0.610269 0.35236 -0.709517\n outer loop\n vertex -4.20592 5.79256 0.5\n vertex -4.01465 5.46129 0.5\n vertex -4.51274 5.31715 0\n endloop\n endfacet\n facet normal 0.579823 0.400214 -0.709672\n outer loop\n vertex -4.01465 5.46129 0.5\n vertex -3.79735 5.14647 0.5\n vertex -4.29413 4.97958 0\n endloop\n endfacet\n facet normal 0.545659 0.445514 -0.70977\n outer loop\n vertex -3.79735 5.14647 0.5\n vertex -3.55543 4.85017 0.5\n vertex -4.05032 4.65973 0\n endloop\n endfacet\n facet normal 0.508004 0.487951 -0.709814\n outer loop\n vertex -3.55543 4.85017 0.5\n vertex -3.29044 4.57429 0.5\n vertex -3.78274 4.35948 0\n endloop\n endfacet\n facet normal 0.46711 0.527253 -0.709797\n outer loop\n vertex -3.29044 4.57429 0.5\n vertex -3.00412 4.32063 0.5\n vertex -3.49296 4.0806 0\n endloop\n endfacet\n facet normal 0.423206 0.563189 -0.709729\n outer loop\n vertex -3.00412 4.32063 0.5\n vertex -2.69831 4.09083 0.5\n vertex -3.18268 3.82471 0\n endloop\n endfacet\n facet normal 0.376587 0.595522 -0.709603\n outer loop\n vertex -2.69831 4.09083 0.5\n vertex -2.375 3.88638 0.5\n vertex -2.85373 3.59333 0\n endloop\n endfacet\n facet normal 0.327534 0.624058 -0.709417\n outer loop\n vertex -2.375 3.88638 0.5\n vertex -2.03629 3.70861 0.5\n vertex -2.50803 3.38781 0\n endloop\n endfacet\n facet normal 0.276352 0.648618 -0.709172\n outer loop\n vertex -2.03629 3.70861 0.5\n vertex -1.68437 3.55867 0.5\n vertex -2.14761 3.20936 0\n endloop\n endfacet\n facet normal 0.223349 0.669033 -0.708879\n outer loop\n vertex -1.68437 3.55867 0.5\n vertex -1.32153 3.43754 0.5\n vertex -1.77459 3.05901 0\n endloop\n endfacet\n facet normal 0.168893 0.685182 -0.70852\n outer loop\n vertex -1.32153 3.43754 0.5\n vertex -0.950122 3.34599 0.5\n vertex -1.39115 2.93767 0\n endloop\n endfacet\n facet normal 0.113265 0.696963 -0.708105\n outer loop\n vertex -0.950122 3.34599 0.5\n vertex -0.572549 3.28463 0.5\n vertex -0.999553 2.84603 0\n endloop\n endfacet\n facet normal 0.056855 0.704289 -0.707633\n outer loop\n vertex -0.572549 3.28463 0.5\n vertex -0.191263 3.25385 0.5\n vertex -0.602088 2.78464 0\n endloop\n endfacet\n facet normal 0 0.707107 -0.707107\n outer loop\n vertex 0.201089 2.75385 0\n vertex -0.191263 3.25385 0.5\n vertex 0.191263 3.25385 0.5\n endloop\n endfacet\n facet normal 0 0.707107 -0.707107\n outer loop\n vertex -0.191263 3.25385 0.5\n vertex 0.201089 2.75385 0\n vertex -0.201089 2.75385 0\n endloop\n endfacet\n facet normal -0.0541733 0.705536 -0.706601\n outer loop\n vertex 0.602088 2.78464 0\n vertex 0.201089 2.75385 0\n vertex 0.191263 3.25385 0.5\n endloop\n endfacet\n facet normal 0.683318 0.18778 -0.70556\n outer loop\n vertex -4.61197 6.86325 0.5\n vertex -5.00533 6.41597 0\n vertex -5.1119 6.80377 0\n endloop\n endfacet\n facet normal 0.66725 0.239639 -0.705231\n outer loop\n vertex -4.50555 6.49583 0.5\n vertex -4.86939 6.03746 0\n vertex -5.00533 6.41597 0\n endloop\n endfacet\n facet normal 0.647189 0.290132 -0.704961\n outer loop\n vertex -4.3699 6.13816 0.5\n vertex -4.70487 5.67047 0\n vertex -4.86939 6.03746 0\n endloop\n endfacet\n facet normal 0.623281 0.338931 -0.704732\n outer loop\n vertex -4.20592 5.79256 0.5\n vertex -4.51274 5.31715 0\n vertex -4.70487 5.67047 0\n endloop\n endfacet\n facet normal 0.595643 0.385738 -0.704568\n outer loop\n vertex -4.01465 5.46129 0.5\n vertex -4.29413 4.97958 0\n vertex -4.51274 5.31715 0\n endloop\n endfacet\n facet normal 0.564466 0.430272 -0.704447\n outer loop\n vertex -3.79735 5.14647 0.5\n vertex -4.05032 4.65973 0\n vertex -4.29413 4.97958 0\n endloop\n endfacet\n facet normal 0.529922 0.472261 -0.704381\n outer loop\n vertex -3.55543 4.85017 0.5\n vertex -3.78274 4.35948 0\n vertex -4.05032 4.65973 0\n endloop\n endfacet\n facet normal 0.492217 0.511456 -0.704369\n outer loop\n vertex -3.29044 4.57429 0.5\n vertex -3.49296 4.0806 0\n vertex -3.78274 4.35948 0\n endloop\n endfacet\n facet normal 0.451607 0.547597 -0.704407\n outer loop\n vertex -3.00412 4.32063 0.5\n vertex -3.18268 3.82471 0\n vertex -3.49296 4.0806 0\n endloop\n endfacet\n facet normal 0.408307 0.580485 -0.704501\n outer loop\n vertex -2.69831 4.09083 0.5\n vertex -2.85373 3.59333 0\n vertex -3.18268 3.82471 0\n endloop\n endfacet\n facet normal 0.362598 0.609917 -0.704645\n outer loop\n vertex -2.375 3.88638 0.5\n vertex -2.50803 3.38781 0\n vertex -2.85373 3.59333 0\n endloop\n endfacet\n facet normal 0.314753 0.635715 -0.704838\n outer loop\n vertex -2.03629 3.70861 0.5\n vertex -2.14761 3.20936 0\n vertex -2.50803 3.38781 0\n endloop\n endfacet\n facet normal 0.265095 0.657703 -0.70509\n outer loop\n vertex -1.68437 3.55867 0.5\n vertex -1.77459 3.05901 0\n vertex -2.14761 3.20936 0\n endloop\n endfacet\n facet normal 0.213854 0.675789 -0.70539\n outer loop\n vertex -1.32153 3.43754 0.5\n vertex -1.39115 2.93767 0\n vertex -1.77459 3.05901 0\n endloop\n endfacet\n facet normal 0.161432 0.689835 -0.705739\n outer loop\n vertex -0.950122 3.34599 0.5\n vertex -0.999553 2.84603 0\n vertex -1.39115 2.93767 0\n endloop\n endfacet\n facet normal 0.108082 0.699772 -0.706143\n outer loop\n vertex -0.572549 3.28463 0.5\n vertex -0.602088 2.78464 0\n vertex -0.999553 2.84603 0\n endloop\n endfacet\n facet normal 0.0541733 0.705536 -0.706601\n outer loop\n vertex -0.191263 3.25385 0.5\n vertex -0.201089 2.75385 0\n vertex -0.602088 2.78464 0\n endloop\n endfacet\n facet normal -0.056855 0.704289 -0.707633\n outer loop\n vertex 0.572549 3.28463 0.5\n vertex 0.602088 2.78464 0\n vertex 0.191263 3.25385 0.5\n endloop\n endfacet\n facet normal -0.108082 0.699772 -0.706143\n outer loop\n vertex 0.999553 2.84603 0\n vertex 0.602088 2.78464 0\n vertex 0.572549 3.28463 0.5\n endloop\n endfacet\n facet normal -0.113265 0.696963 -0.708105\n outer loop\n vertex 0.950122 3.34599 0.5\n vertex 0.999553 2.84603 0\n vertex 0.572549 3.28463 0.5\n endloop\n endfacet\n facet normal -0.168893 0.685182 -0.70852\n outer loop\n vertex 1.32153 3.43754 0.5\n vertex 1.39115 2.93767 0\n vertex 0.950122 3.34599 0.5\n endloop\n endfacet\n facet normal -0.223349 0.669033 -0.708879\n outer loop\n vertex 1.68437 3.55867 0.5\n vertex 1.77459 3.05901 0\n vertex 1.32153 3.43754 0.5\n endloop\n endfacet\n facet normal -0.276352 0.648618 -0.709172\n outer loop\n vertex 2.03629 3.70861 0.5\n vertex 2.14761 3.20936 0\n vertex 1.68437 3.55867 0.5\n endloop\n endfacet\n facet normal -0.327534 0.624058 -0.709417\n outer loop\n vertex 2.375 3.88638 0.5\n vertex 2.50803 3.38781 0\n vertex 2.03629 3.70861 0.5\n endloop\n endfacet\n facet normal -0.376587 0.595522 -0.709603\n outer loop\n vertex 2.69831 4.09083 0.5\n vertex 2.85373 3.59333 0\n vertex 2.375 3.88638 0.5\n endloop\n endfacet\n facet normal -0.423206 0.563189 -0.709729\n outer loop\n vertex 3.00412 4.32063 0.5\n vertex 3.18268 3.82471 0\n vertex 2.69831 4.09083 0.5\n endloop\n endfacet\n facet normal -0.46711 0.527253 -0.709797\n outer loop\n vertex 3.29044 4.57429 0.5\n vertex 3.49296 4.0806 0\n vertex 3.00412 4.32063 0.5\n endloop\n endfacet\n facet normal -0.508004 0.487951 -0.709814\n outer loop\n vertex 3.55543 4.85017 0.5\n vertex 3.78274 4.35948 0\n vertex 3.29044 4.57429 0.5\n endloop\n endfacet\n facet normal -0.545659 0.445514 -0.70977\n outer loop\n vertex 3.79735 5.14647 0.5\n vertex 4.05032 4.65973 0\n vertex 3.55543 4.85017 0.5\n endloop\n endfacet\n facet normal -0.579823 0.400214 -0.709672\n outer loop\n vertex 4.01465 5.46129 0.5\n vertex 4.29413 4.97958 0\n vertex 3.79735 5.14647 0.5\n endloop\n endfacet\n facet normal -0.610269 0.35236 -0.709517\n outer loop\n vertex 4.20592 5.79256 0.5\n vertex 4.51274 5.31715 0\n vertex 4.01465 5.46129 0.5\n endloop\n endfacet\n facet normal -0.636854 0.302174 -0.709301\n outer loop\n vertex 4.3699 6.13816 0.5\n vertex 4.70487 5.67047 0\n vertex 4.20592 5.79256 0.5\n endloop\n endfacet\n facet normal -0.659346 0.250064 -0.709036\n outer loop\n vertex 4.50555 6.49583 0.5\n vertex 4.86939 6.03746 0\n vertex 4.3699 6.13816 0.5\n endloop\n endfacet\n facet normal -0.677653 0.196276 -0.708704\n outer loop\n vertex 4.61197 6.86325 0.5\n vertex 5.00533 6.41597 0\n vertex 4.50555 6.49583 0.5\n endloop\n endfacet\n facet normal -0.691622 0.141203 -0.708323\n outer loop\n vertex 4.68849 7.23805 0.5\n vertex 5.1119 6.80377 0\n vertex 4.61197 6.86325 0.5\n endloop\n endfacet\n facet normal -0.701185 0.0851438 -0.707877\n outer loop\n vertex 4.7346 7.61778 0.5\n vertex 5.18847 7.19859 0\n vertex 4.68849 7.23805 0.5\n endloop\n endfacet\n facet normal -0.706261 0.0284559 -0.70738\n outer loop\n vertex 4.75 8 0.5\n vertex 5.2346 7.59812 0\n vertex 4.7346 7.61778 0.5\n endloop\n endfacet\n facet normal -0.706847 -0.0270863 -0.706847\n outer loop\n vertex 5.2346 8.40188 0\n vertex 5.25 8 0\n vertex 4.75 8 0.5\n endloop\n endfacet\n facet normal -0.706847 0.0270863 -0.706847\n outer loop\n vertex 5.25 8 0\n vertex 5.2346 7.59812 0\n vertex 4.75 8 0.5\n endloop\n endfacet\n facet normal -0.161432 0.689835 -0.705739\n outer loop\n vertex 1.39115 2.93767 0\n vertex 0.999553 2.84603 0\n vertex 0.950122 3.34599 0.5\n endloop\n endfacet\n facet normal -0.213854 0.675789 -0.70539\n outer loop\n vertex 1.77459 3.05901 0\n vertex 1.39115 2.93767 0\n vertex 1.32153 3.43754 0.5\n endloop\n endfacet\n facet normal -0.265095 0.657703 -0.70509\n outer loop\n vertex 2.14761 3.20936 0\n vertex 1.77459 3.05901 0\n vertex 1.68437 3.55867 0.5\n endloop\n endfacet\n facet normal -0.314753 0.635715 -0.704838\n outer loop\n vertex 2.50803 3.38781 0\n vertex 2.14761 3.20936 0\n vertex 2.03629 3.70861 0.5\n endloop\n endfacet\n facet normal -0.362598 0.609917 -0.704645\n outer loop\n vertex 2.85373 3.59333 0\n vertex 2.50803 3.38781 0\n vertex 2.375 3.88638 0.5\n endloop\n endfacet\n facet normal -0.408307 0.580485 -0.704501\n outer loop\n vertex 3.18268 3.82471 0\n vertex 2.85373 3.59333 0\n vertex 2.69831 4.09083 0.5\n endloop\n endfacet\n facet normal -0.451607 0.547597 -0.704407\n outer loop\n vertex 3.49296 4.0806 0\n vertex 3.18268 3.82471 0\n vertex 3.00412 4.32063 0.5\n endloop\n endfacet\n facet normal -0.492217 0.511456 -0.704369\n outer loop\n vertex 3.78274 4.35948 0\n vertex 3.49296 4.0806 0\n vertex 3.29044 4.57429 0.5\n endloop\n endfacet\n facet normal -0.529922 0.472261 -0.704381\n outer loop\n vertex 4.05032 4.65973 0\n vertex 3.78274 4.35948 0\n vertex 3.55543 4.85017 0.5\n endloop\n endfacet\n facet normal -0.564466 0.430272 -0.704447\n outer loop\n vertex 4.29413 4.97958 0\n vertex 4.05032 4.65973 0\n vertex 3.79735 5.14647 0.5\n endloop\n endfacet\n facet normal -0.595643 0.385738 -0.704568\n outer loop\n vertex 4.51274 5.31715 0\n vertex 4.29413 4.97958 0\n vertex 4.01465 5.46129 0.5\n endloop\n endfacet\n facet normal -0.623281 0.338931 -0.704732\n outer loop\n vertex 4.70487 5.67047 0\n vertex 4.51274 5.31715 0\n vertex 4.20592 5.79256 0.5\n endloop\n endfacet\n facet normal -0.647189 0.290132 -0.704961\n outer loop\n vertex 4.86939 6.03746 0\n vertex 4.70487 5.67047 0\n vertex 4.3699 6.13816 0.5\n endloop\n endfacet\n facet normal -0.66725 0.239639 -0.705231\n outer loop\n vertex 5.00533 6.41597 0\n vertex 4.86939 6.03746 0\n vertex 4.50555 6.49583 0.5\n endloop\n endfacet\n facet normal -0.683318 0.18778 -0.70556\n outer loop\n vertex 5.1119 6.80377 0\n vertex 5.00533 6.41597 0\n vertex 4.61197 6.86325 0.5\n endloop\n endfacet\n facet normal -0.695321 0.134848 -0.705935\n outer loop\n vertex 5.18847 7.19859 0\n vertex 5.1119 6.80377 0\n vertex 4.68849 7.23805 0.5\n endloop\n endfacet\n facet normal -0.703174 0.081189 -0.706367\n outer loop\n vertex 5.2346 7.59812 0\n vertex 5.18847 7.19859 0\n vertex 4.7346 7.61778 0.5\n endloop\n endfacet\n facet normal -0.706261 -0.0284559 -0.70738\n outer loop\n vertex 5.2346 8.40188 0\n vertex 4.75 8 0.5\n vertex 4.7346 8.38222 0.5\n endloop\n endfacet\n facet normal -0.703174 -0.081189 -0.706367\n outer loop\n vertex 5.18847 8.80141 0\n vertex 5.2346 8.40188 0\n vertex 4.7346 8.38222 0.5\n endloop\n endfacet\n facet normal -0.701185 -0.0851438 -0.707877\n outer loop\n vertex 5.18847 8.80141 0\n vertex 4.7346 8.38222 0.5\n vertex 4.68849 8.76195 0.5\n endloop\n endfacet\n facet normal -0.691622 -0.141203 -0.708323\n outer loop\n vertex 5.1119 9.19623 0\n vertex 4.68849 8.76195 0.5\n vertex 4.61197 9.13675 0.5\n endloop\n endfacet\n facet normal -0.677653 -0.196276 -0.708704\n outer loop\n vertex 5.00533 9.58403 0\n vertex 4.61197 9.13675 0.5\n vertex 4.50555 9.50417 0.5\n endloop\n endfacet\n facet normal -0.659346 -0.250064 -0.709036\n outer loop\n vertex 4.86939 9.96254 0\n vertex 4.50555 9.50417 0.5\n vertex 4.3699 9.86184 0.5\n endloop\n endfacet\n facet normal -0.63684 -0.302203 -0.709301\n outer loop\n vertex 4.70487 10.3295 0\n vertex 4.3699 9.86184 0.5\n vertex 4.20592 10.2074 0.5\n endloop\n endfacet\n facet normal -0.610293 -0.352341 -0.709506\n outer loop\n vertex 4.51274 10.6828 0\n vertex 4.20592 10.2074 0.5\n vertex 4.01465 10.5387 0.5\n endloop\n endfacet\n facet normal -0.57981 -0.400231 -0.709673\n outer loop\n vertex 4.29413 11.0204 0\n vertex 4.01465 10.5387 0.5\n vertex 3.79735 10.8535 0.5\n endloop\n endfacet\n facet normal -0.545638 -0.445497 -0.709796\n outer loop\n vertex 4.05032 11.3403 0\n vertex 3.79735 10.8535 0.5\n vertex 3.55543 11.1498 0.5\n endloop\n endfacet\n facet normal -0.508022 -0.487933 -0.709814\n outer loop\n vertex 3.78274 11.6405 0\n vertex 3.55543 11.1498 0.5\n vertex 3.29044 11.4257 0.5\n endloop\n endfacet\n facet normal -0.467154 -0.52722 -0.709793\n outer loop\n vertex 3.49296 11.9194 0\n vertex 3.29044 11.4257 0.5\n vertex 3.00412 11.6794 0.5\n endloop\n endfacet\n facet normal -0.423213 -0.563198 -0.709717\n outer loop\n vertex 3.18268 12.1753 0\n vertex 3.00412 11.6794 0.5\n vertex 2.69831 11.9092 0.5\n endloop\n endfacet\n facet normal -0.376516 -0.595555 -0.709613\n outer loop\n vertex 2.85373 12.4067 0\n vertex 2.69831 11.9092 0.5\n vertex 2.375 12.1136 0.5\n endloop\n endfacet\n facet normal -0.327571 -0.624024 -0.70943\n outer loop\n vertex 2.50803 12.6122 0\n vertex 2.375 12.1136 0.5\n vertex 2.03629 12.2914 0.5\n endloop\n endfacet\n facet normal -0.2763 -0.648668 -0.709146\n outer loop\n vertex 2.14761 12.7906 0\n vertex 2.03629 12.2914 0.5\n vertex 1.68437 12.4413 0.5\n endloop\n endfacet\n facet normal -0.22346 -0.668977 -0.708897\n outer loop\n vertex 1.77459 12.941 0\n vertex 1.68437 12.4413 0.5\n vertex 1.32153 12.5625 0.5\n endloop\n endfacet\n facet normal -0.168817 -0.685245 -0.708477\n outer loop\n vertex 1.39115 13.0623 0\n vertex 1.32153 12.5625 0.5\n vertex 0.950122 12.654 0.5\n endloop\n endfacet\n facet normal -0.113332 -0.696927 -0.708131\n outer loop\n vertex 0.999553 13.154 0\n vertex 0.950122 12.654 0.5\n vertex 0.572549 12.7154 0.5\n endloop\n endfacet\n facet normal -0.0567075 -0.704292 -0.707642\n outer loop\n vertex 0.602088 13.2154 0\n vertex 0.572549 12.7154 0.5\n vertex 0.191263 12.7461 0.5\n endloop\n endfacet\n facet normal 0.0540156 -0.705544 -0.706605\n outer loop\n vertex -0.201089 13.2461 0\n vertex -0.191263 12.7461 0.5\n vertex -0.602088 13.2154 0\n endloop\n endfacet\n facet normal 0 -0.707107 -0.707107\n outer loop\n vertex -0.201089 13.2461 0\n vertex 0.191263 12.7461 0.5\n vertex -0.191263 12.7461 0.5\n endloop\n endfacet\n facet normal 0 -0.707107 -0.707107\n outer loop\n vertex 0.191263 12.7461 0.5\n vertex -0.201089 13.2461 0\n vertex 0.201089 13.2461 0\n endloop\n endfacet\n facet normal -0.695321 -0.134848 -0.705935\n outer loop\n vertex 5.1119 9.19623 0\n vertex 5.18847 8.80141 0\n vertex 4.68849 8.76195 0.5\n endloop\n endfacet\n facet normal -0.683318 -0.18778 -0.70556\n outer loop\n vertex 5.00533 9.58403 0\n vertex 5.1119 9.19623 0\n vertex 4.61197 9.13675 0.5\n endloop\n endfacet\n facet normal -0.66725 -0.239639 -0.705231\n outer loop\n vertex 4.86939 9.96254 0\n vertex 5.00533 9.58403 0\n vertex 4.50555 9.50417 0.5\n endloop\n endfacet\n facet normal -0.647182 -0.290153 -0.704959\n outer loop\n vertex 4.70487 10.3295 0\n vertex 4.86939 9.96254 0\n vertex 4.3699 9.86184 0.5\n endloop\n endfacet\n facet normal -0.623272 -0.338945 -0.704733\n outer loop\n vertex 4.51274 10.6828 0\n vertex 4.70487 10.3295 0\n vertex 4.20592 10.2074 0.5\n endloop\n endfacet\n facet normal -0.595668 -0.38572 -0.704557\n outer loop\n vertex 4.29413 11.0204 0\n vertex 4.51274 10.6828 0\n vertex 4.01465 10.5387 0.5\n endloop\n endfacet\n facet normal -0.564487 -0.430221 -0.70446\n outer loop\n vertex 4.05032 11.3403 0\n vertex 4.29413 11.0204 0\n vertex 3.79735 10.8535 0.5\n endloop\n endfacet\n facet normal -0.52987 -0.472294 -0.704398\n outer loop\n vertex 3.78274 11.6405 0\n vertex 4.05032 11.3403 0\n vertex 3.55543 11.1498 0.5\n endloop\n endfacet\n facet normal -0.492236 -0.511438 -0.704369\n outer loop\n vertex 3.49296 11.9194 0\n vertex 3.78274 11.6405 0\n vertex 3.29044 11.4257 0.5\n endloop\n endfacet\n facet normal -0.451626 -0.547599 -0.704393\n outer loop\n vertex 3.18268 12.1753 0\n vertex 3.49296 11.9194 0\n vertex 3.00412 11.6794 0.5\n endloop\n endfacet\n facet normal -0.408334 -0.580472 -0.704497\n outer loop\n vertex 2.85373 12.4067 0\n vertex 3.18268 12.1753 0\n vertex 2.69831 11.9092 0.5\n endloop\n endfacet\n facet normal -0.36256 -0.609913 -0.704668\n outer loop\n vertex 2.50803 12.6122 0\n vertex 2.85373 12.4067 0\n vertex 2.375 12.1136 0.5\n endloop\n endfacet\n facet normal -0.314692 -0.63577 -0.704816\n outer loop\n vertex 2.14761 12.7906 0\n vertex 2.50803 12.6122 0\n vertex 2.03629 12.2914 0.5\n endloop\n endfacet\n facet normal -0.265164 -0.657656 -0.705108\n outer loop\n vertex 1.77459 12.941 0\n vertex 2.14761 12.7906 0\n vertex 1.68437 12.4413 0.5\n endloop\n endfacet\n facet normal -0.213803 -0.675849 -0.705349\n outer loop\n vertex 1.39115 13.0623 0\n vertex 1.77459 12.941 0\n vertex 1.32153 12.5625 0.5\n endloop\n endfacet\n facet normal -0.161528 -0.689791 -0.70576\n outer loop\n vertex 0.999553 13.154 0\n vertex 1.39115 13.0623 0\n vertex 0.950122 12.654 0.5\n endloop\n endfacet\n facet normal -0.108099 -0.699763 -0.706149\n outer loop\n vertex 0.602088 13.2154 0\n vertex 0.999553 13.154 0\n vertex 0.572549 12.7154 0.5\n endloop\n endfacet\n facet normal -0.0540156 -0.705544 -0.706605\n outer loop\n vertex 0.201089 13.2461 0\n vertex 0.602088 13.2154 0\n vertex 0.191263 12.7461 0.5\n endloop\n endfacet\n facet normal 0.0567075 -0.704292 -0.707642\n outer loop\n vertex -0.191263 12.7461 0.5\n vertex -0.572549 12.7154 0.5\n vertex -0.602088 13.2154 0\n endloop\n endfacet\n facet normal 0.108099 -0.699763 -0.706149\n outer loop\n vertex -0.602088 13.2154 0\n vertex -0.572549 12.7154 0.5\n vertex -0.999553 13.154 0\n endloop\n endfacet\n facet normal 0.113332 -0.696927 -0.708131\n outer loop\n vertex -0.572549 12.7154 0.5\n vertex -0.950122 12.654 0.5\n vertex -0.999553 13.154 0\n endloop\n endfacet\n facet normal 0.168817 -0.685245 -0.708477\n outer loop\n vertex -0.950122 12.654 0.5\n vertex -1.32153 12.5625 0.5\n vertex -1.39115 13.0623 0\n endloop\n endfacet\n facet normal 0.22346 -0.668977 -0.708897\n outer loop\n vertex -1.32153 12.5625 0.5\n vertex -1.68437 12.4413 0.5\n vertex -1.77459 12.941 0\n endloop\n endfacet\n facet normal 0.2763 -0.648668 -0.709146\n outer loop\n vertex -1.68437 12.4413 0.5\n vertex -2.03629 12.2914 0.5\n vertex -2.14761 12.7906 0\n endloop\n endfacet\n facet normal 0.327571 -0.624024 -0.70943\n outer loop\n vertex -2.03629 12.2914 0.5\n vertex -2.375 12.1136 0.5\n vertex -2.50803 12.6122 0\n endloop\n endfacet\n facet normal 0.376516 -0.595555 -0.709613\n outer loop\n vertex -2.375 12.1136 0.5\n vertex -2.69831 11.9092 0.5\n vertex -2.85373 12.4067 0\n endloop\n endfacet\n facet normal 0.423213 -0.563198 -0.709717\n outer loop\n vertex -2.69831 11.9092 0.5\n vertex -3.00412 11.6794 0.5\n vertex -3.18268 12.1753 0\n endloop\n endfacet\n facet normal 0.467154 -0.52722 -0.709793\n outer loop\n vertex -3.00412 11.6794 0.5\n vertex -3.29044 11.4257 0.5\n vertex -3.49296 11.9194 0\n endloop\n endfacet\n facet normal 0.508022 -0.487933 -0.709814\n outer loop\n vertex -3.29044 11.4257 0.5\n vertex -3.55543 11.1498 0.5\n vertex -3.78274 11.6405 0\n endloop\n endfacet\n facet normal 0.545638 -0.445497 -0.709796\n outer loop\n vertex -3.55543 11.1498 0.5\n vertex -3.79735 10.8535 0.5\n vertex -4.05032 11.3403 0\n endloop\n endfacet\n facet normal 0.57981 -0.400231 -0.709673\n outer loop\n vertex -3.79735 10.8535 0.5\n vertex -4.01465 10.5387 0.5\n vertex -4.29413 11.0204 0\n endloop\n endfacet\n facet normal 0.610293 -0.352341 -0.709506\n outer loop\n vertex -4.01465 10.5387 0.5\n vertex -4.20592 10.2074 0.5\n vertex -4.51274 10.6828 0\n endloop\n endfacet\n facet normal 0.63684 -0.302203 -0.709301\n outer loop\n vertex 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0\n vertex -4.75 8 0.5\n vertex -5.2346 8.40188 0\n endloop\n endfacet\n facet normal 0.706847 -0.0270863 -0.706847\n outer loop\n vertex -5.2346 8.40188 0\n vertex -4.75 8 0.5\n vertex -5.25 8 0\n endloop\n endfacet\n facet normal 0.706847 0.0270863 -0.706847\n outer loop\n vertex -4.75 8 0.5\n vertex -5.2346 7.59812 0\n vertex -5.25 8 0\n endloop\n endfacet\n facet normal 0.161528 -0.689791 -0.70576\n outer loop\n vertex -0.999553 13.154 0\n vertex -0.950122 12.654 0.5\n vertex -1.39115 13.0623 0\n endloop\n endfacet\n facet normal 0.213803 -0.675849 -0.705349\n outer loop\n vertex -1.39115 13.0623 0\n vertex -1.32153 12.5625 0.5\n vertex -1.77459 12.941 0\n endloop\n endfacet\n facet normal 0.265164 -0.657656 -0.705108\n outer loop\n vertex -1.77459 12.941 0\n vertex -1.68437 12.4413 0.5\n vertex -2.14761 12.7906 0\n endloop\n endfacet\n facet normal 0.314692 -0.63577 -0.704816\n outer loop\n vertex -2.14761 12.7906 0\n vertex -2.03629 12.2914 0.5\n vertex -2.50803 12.6122 0\n endloop\n endfacet\n facet normal 0.36256 -0.609913 -0.704668\n outer loop\n vertex -2.50803 12.6122 0\n vertex -2.375 12.1136 0.5\n vertex -2.85373 12.4067 0\n endloop\n endfacet\n facet normal 0.408334 -0.580472 -0.704497\n outer loop\n vertex -2.85373 12.4067 0\n vertex -2.69831 11.9092 0.5\n vertex -3.18268 12.1753 0\n endloop\n endfacet\n facet normal 0.451626 -0.547599 -0.704393\n outer loop\n vertex -3.18268 12.1753 0\n vertex -3.00412 11.6794 0.5\n vertex -3.49296 11.9194 0\n endloop\n endfacet\n facet normal 0.492236 -0.511438 -0.704369\n outer loop\n vertex -3.49296 11.9194 0\n vertex -3.29044 11.4257 0.5\n vertex -3.78274 11.6405 0\n endloop\n endfacet\n facet normal 0.52987 -0.472294 -0.704398\n outer loop\n vertex -3.78274 11.6405 0\n vertex -3.55543 11.1498 0.5\n vertex -4.05032 11.3403 0\n endloop\n endfacet\n facet normal 0.564487 -0.430221 -0.70446\n outer loop\n vertex -4.05032 11.3403 0\n vertex -3.79735 10.8535 0.5\n vertex -4.29413 11.0204 0\n endloop\n endfacet\n facet normal 0.595668 -0.38572 -0.704557\n outer loop\n vertex -4.29413 11.0204 0\n vertex -4.01465 10.5387 0.5\n vertex -4.51274 10.6828 0\n endloop\n endfacet\n facet normal 0.623272 -0.338945 -0.704733\n outer loop\n vertex -4.51274 10.6828 0\n vertex -4.20592 10.2074 0.5\n vertex -4.70487 10.3295 0\n endloop\n endfacet\n facet normal 0.647182 -0.290153 -0.704959\n outer loop\n vertex -4.70487 10.3295 0\n vertex -4.3699 9.86184 0.5\n vertex -4.86939 9.96254 0\n endloop\n endfacet\n facet normal 0.66725 -0.239639 -0.705231\n outer loop\n vertex -4.86939 9.96254 0\n vertex -4.50555 9.50417 0.5\n vertex -5.00533 9.58403 0\n endloop\n endfacet\n facet normal 0.683318 -0.18778 -0.70556\n outer loop\n vertex -5.00533 9.58403 0\n vertex -4.61197 9.13675 0.5\n vertex -5.1119 9.19623 0\n endloop\n endfacet\n facet normal 0.695321 -0.134848 -0.705935\n outer loop\n vertex -5.1119 9.19623 0\n vertex -4.68849 8.76195 0.5\n vertex -5.18847 8.80141 0\n endloop\n endfacet\n facet normal 0.704317 0.0526569 -0.70793\n outer loop\n vertex 16.1 0 0.5\n vertex 16.1156 -0.208659 0.5\n vertex 15.6156 -0.242966 0\n endloop\n endfacet\n facet normal 0.695933 0.135414 -0.705224\n outer loop\n vertex 16.1156 -0.208659 0.5\n vertex 15.6621 -0.481943 0\n vertex 15.6156 -0.242966 0\n endloop\n endfacet\n facet normal 0.687305 0.157003 -0.709198\n outer loop\n vertex 16.1156 -0.208659 0.5\n vertex 16.1622 -0.412657 0.5\n vertex 15.6621 -0.481943 0\n endloop\n endfacet\n facet normal 0.673415 0.223827 -0.704566\n outer loop\n vertex 16.1622 -0.412657 0.5\n vertex 15.7389 -0.713007 0\n vertex 15.6621 -0.481943 0\n endloop\n endfacet\n facet normal 0.65582 0.257237 -0.709739\n outer loop\n vertex 16.1622 -0.412657 0.5\n vertex 16.2386 -0.607437 0.5\n vertex 15.7389 -0.713007 0\n endloop\n endfacet\n facet normal 0.609942 0.352412 -0.709772\n outer loop\n vertex 16.2386 -0.607437 0.5\n vertex 16.3433 -0.788648 0.5\n vertex 15.8445 -0.932363 0\n endloop\n endfacet\n facet normal 0.551301 0.439442 -0.709195\n outer loop\n vertex 16.3433 -0.788648 0.5\n vertex 16.4737 -0.952241 0.5\n vertex 15.9773 -1.13641 0\n endloop\n endfacet\n facet normal 0.480344 0.517744 -0.707963\n outer loop\n vertex 16.4737 -0.952241 0.5\n vertex 16.6271 -1.09456 0.5\n vertex 16.1351 -1.3218 0\n endloop\n endfacet\n facet normal 0.404949 0.580576 -0.706363\n outer loop\n vertex 16.6271 -1.09456 0.5\n vertex 16.5151 -1.62477 0\n vertex 16.3154 -1.48548 0\n endloop\n endfacet\n facet normal 0.475786 0.524097 -0.706364\n outer loop\n vertex 16.6271 -1.09456 0.5\n vertex 16.3154 -1.48548 0\n vertex 16.1351 -1.3218 0\n endloop\n endfacet\n facet normal 0.639653 0.307935 -0.704287\n outer loop\n vertex 16.2386 -0.607437 0.5\n vertex 15.8445 -0.932363 0\n vertex 15.7389 -0.713007 0\n endloop\n endfacet\n facet normal 0.594752 0.387082 -0.704583\n outer loop\n vertex 16.3433 -0.788648 0.5\n vertex 15.9773 -1.13641 0\n vertex 15.8445 -0.932363 0\n endloop\n endfacet\n facet normal 0.539872 0.459528 -0.705246\n 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18.3729 -1.09456 0.5\n endloop\n endfacet\n facet normal -0.509909 0.493583 -0.704535\n outer loop\n vertex 18.9467 -1.23163 0\n vertex 18.7774 -1.40653 0\n vertex 18.5263 -0.952241 0.5\n endloop\n endfacet\n facet normal -0.568033 0.424183 -0.705271\n outer loop\n vertex 19.0924 -1.03652 0\n vertex 18.9467 -1.23163 0\n vertex 18.6567 -0.788648 0.5\n endloop\n endfacet\n facet normal -0.657491 0.257892 -0.707953\n outer loop\n vertex 18.8378 -0.412657 0.5\n vertex 19.3032 -0.598705 0\n vertex 18.7614 -0.607437 0.5\n endloop\n endfacet\n facet normal -0.685743 0.17995 -0.705248\n outer loop\n vertex 19.365 -0.363201 0\n vertex 19.3032 -0.598705 0\n vertex 18.8378 -0.412657 0.5\n endloop\n endfacet\n facet normal -0.687321 0.157007 -0.709181\n outer loop\n vertex 18.8844 -0.208659 0.5\n vertex 19.365 -0.363201 0\n vertex 18.8378 -0.412657 0.5\n endloop\n endfacet\n facet normal -0.702468 0.0525187 -0.709775\n outer loop\n vertex 18.9 0 0.5\n vertex 19.3961 -0.121733 0\n vertex 18.8844 -0.208659 0.5\n endloop\n endfacet\n facet normal -0.702468 -0.0525187 -0.709775\n outer loop\n vertex 19.3961 0.121733 0\n vertex 18.9 0 0.5\n vertex 18.8844 0.208659 0.5\n endloop\n endfacet\n facet normal -0.687321 -0.157007 -0.709181\n outer loop\n vertex 19.365 0.363201 0\n vertex 18.8844 0.208659 0.5\n vertex 18.8378 0.412657 0.5\n endloop\n endfacet\n facet normal -0.657491 -0.257892 -0.707953\n outer loop\n vertex 19.3032 0.598705 0\n vertex 18.8378 0.412657 0.5\n vertex 18.7614 0.607437 0.5\n endloop\n endfacet\n facet normal -0.616883 -0.347202 -0.706333\n outer loop\n vertex 19.0924 1.03652 0\n vertex 19.2118 0.824379 0\n vertex 18.7614 0.607437 0.5\n endloop\n endfacet\n facet normal -0.656116 -0.265733 -0.706327\n outer loop\n vertex 19.2118 0.824379 0\n vertex 19.3032 0.598705 0\n vertex 18.7614 0.607437 0.5\n endloop\n endfacet\n facet normal -0.70384 0.0906515 -0.70455\n outer loop\n vertex 19.3961 -0.121733 0\n vertex 19.365 -0.363201 0\n vertex 18.8844 -0.208659 0.5\n endloop\n endfacet\n facet normal -0.70987 -0 -0.704333\n outer loop\n vertex 19.3961 0.121733 0\n vertex 19.3961 -0.121733 0\n vertex 18.9 0 0.5\n endloop\n endfacet\n facet normal -0.70384 -0.0906515 -0.70455\n outer loop\n vertex 19.365 0.363201 0\n vertex 19.3961 0.121733 0\n vertex 18.8844 0.208659 0.5\n endloop\n endfacet\n facet normal -0.685743 -0.17995 -0.705248\n outer loop\n vertex 19.3032 0.598705 0\n vertex 19.365 0.363201 0\n vertex 18.8378 0.412657 0.5\n endloop\n endfacet\n facet normal -0.611486 -0.353304 -0.707998\n outer loop\n vertex 19.0924 1.03652 0\n vertex 18.7614 0.607437 0.5\n vertex 18.6567 0.788648 0.5\n endloop\n endfacet\n facet normal -0.568033 -0.424183 -0.705271\n outer loop\n vertex 18.9467 1.23163 0\n vertex 19.0924 1.03652 0\n vertex 18.6567 0.788648 0.5\n endloop\n endfacet\n facet normal -0.551344 -0.439477 -0.70914\n outer loop\n vertex 18.9467 1.23163 0\n vertex 18.6567 0.788648 0.5\n vertex 18.5263 0.952241 0.5\n endloop\n endfacet\n facet normal -0.479095 -0.516398 -0.709789\n outer loop\n vertex 18.7774 1.40653 0\n vertex 18.5263 0.952241 0.5\n vertex 18.3729 1.09456 0.5\n endloop\n endfacet\n facet normal -0.396793 -0.582043 -0.709775\n outer loop\n vertex 18.587 1.55833 0\n vertex 18.3729 1.09456 0.5\n vertex 18.2 1.21243 0.5\n endloop\n endfacet\n facet normal -0.30594 -0.635198 -0.709171\n outer loop\n vertex 18.3788 1.68454 0\n vertex 18.2 1.21243 0.5\n vertex 18.0115 1.30322 0.5\n endloop\n endfacet\n facet normal -0.208137 -0.674892 -0.707955\n outer loop\n vertex 18.1562 1.78309 0\n vertex 18.0115 1.30322 0.5\n vertex 17.8115 1.3649 0.5\n endloop\n endfacet\n facet normal -0.112953 -0.698762 -0.70638\n outer loop\n vertex 17.9228 1.85236 0\n vertex 17.8115 1.3649 0.5\n vertex 17.6824 1.89122 0\n endloop\n endfacet\n facet normal -0.201392 -0.678574 -0.706385\n outer loop\n vertex 17.9228 1.85236 0\n vertex 18.1562 1.78309 0\n vertex 17.8115 1.3649 0.5\n endloop\n endfacet\n facet normal -0.509909 -0.493583 -0.704535\n outer loop\n vertex 18.7774 1.40653 0\n vertex 18.9467 1.23163 0\n vertex 18.5263 0.952241 0.5\n endloop\n endfacet\n facet normal -0.44253 -0.555057 -0.704329\n outer loop\n vertex 18.587 1.55833 0\n vertex 18.7774 1.40653 0\n vertex 18.3729 1.09456 0.5\n endloop\n endfacet\n facet normal -0.367873 -0.606854 -0.704555\n outer loop\n vertex 18.3788 1.68454 0\n vertex 18.587 1.55833 0\n vertex 18.2 1.21243 0.5\n endloop\n endfacet\n facet normal -0.287007 -0.648279 -0.705239\n outer loop\n vertex 18.1562 1.78309 0\n vertex 18.3788 1.68454 0\n vertex 18.0115 1.30322 0.5\n endloop\n endfacet\n facet normal -0.105245 -0.698369 -0.707957\n outer loop\n vertex 17.6824 1.89122 0\n vertex 17.8115 1.3649 0.5\n vertex 17.6046 1.39608 0.5\n endloop\n endfacet\n facet normal -0.0227171 -0.708599 -0.705246\n outer loop\n vertex 17.6824 1.89122 0\n vertex 17.6046 1.39608 0.5\n vertex 17.4391 1.89902 0\n endloop\n endfacet\n facet normal 0 -0.705031 -0.709177\n outer loop\n vertex 17.4391 1.89902 0\n vertex 17.6046 1.39608 0.5\n vertex 17.3954 1.39608 0.5\n endloop\n endfacet\n facet normal 0.104972 -0.696559 -0.709779\n outer loop\n vertex 17.1968 1.87564 0\n vertex 17.3954 1.39608 0.5\n vertex 17.1885 1.3649 0.5\n endloop\n endfacet\n facet normal 0.207595 -0.673134 -0.709785\n outer loop\n vertex 17.1885 1.3649 0.5\n vertex 16.9885 1.30322 0.5\n vertex 16.9594 1.82147 0\n endloop\n endfacet\n facet normal 0.305939 -0.635196 -0.709173\n outer loop\n vertex 16.9885 1.30322 0.5\n vertex 16.8 1.21243 0.5\n vertex 16.7309 1.73738 0\n endloop\n endfacet\n facet normal 0.397831 -0.583567 -0.70794\n outer loop\n vertex 16.8 1.21243 0.5\n vertex 16.6271 1.09456 0.5\n vertex 16.5151 1.62477 0\n endloop\n endfacet\n facet normal 0.475786 -0.524097 -0.706364\n outer loop\n vertex 16.3154 1.48548 0\n vertex 16.6271 1.09456 0.5\n vertex 16.1351 1.3218 0\n endloop\n endfacet\n facet normal 0.404949 -0.580576 -0.706363\n outer loop\n vertex 16.5151 1.62477 0\n vertex 16.6271 1.09456 0.5\n vertex 16.3154 1.48548 0\n endloop\n endfacet\n facet normal 0.0681584 -0.706364 -0.70456\n outer loop\n vertex 17.4391 1.89902 0\n vertex 17.3954 1.39608 0.5\n vertex 17.1968 1.87564 0\n endloop\n endfacet\n facet normal 0.15792 -0.692085 -0.704329\n outer loop\n vertex 17.1968 1.87564 0\n vertex 17.1885 1.3649 0.5\n vertex 16.9594 1.82147 0\n endloop\n endfacet\n facet normal 0.245088 -0.665983 -0.704556\n outer loop\n vertex 16.9594 1.82147 0\n vertex 16.9885 1.30322 0.5\n vertex 16.7309 1.73738 0\n endloop\n endfacet\n facet normal 0.32799 -0.628543 -0.705235\n outer loop\n vertex 16.7309 1.73738 0\n vertex 16.8 1.21243 0.5\n vertex 16.5151 1.62477 0\n endloop\n endfacet\n facet normal 0.480344 -0.517744 -0.707963\n outer loop\n vertex 16.6271 1.09456 0.5\n vertex 16.4737 0.952241 0.5\n vertex 16.1351 1.3218 0\n endloop\n endfacet\n facet normal 0.539872 -0.459528 -0.705246\n outer loop\n vertex 16.1351 1.3218 0\n vertex 16.4737 0.952241 0.5\n vertex 15.9773 1.13641 0\n endloop\n endfacet\n facet normal 0.551301 -0.439442 -0.709195\n outer loop\n vertex 16.4737 0.952241 0.5\n vertex 16.3433 0.788648 0.5\n vertex 15.9773 1.13641 0\n endloop\n endfacet\n facet normal 0.609942 -0.352412 -0.709772\n outer loop\n vertex 16.3433 0.788648 0.5\n vertex 16.2386 0.607437 0.5\n vertex 15.8445 0.932363 0\n endloop\n endfacet\n facet normal 0.65582 -0.257237 -0.709739\n outer loop\n vertex 16.2386 0.607437 0.5\n vertex 16.1622 0.412657 0.5\n vertex 15.7389 0.713007 0\n endloop\n endfacet\n facet normal 0.687305 -0.157003 -0.709198\n outer loop\n vertex 16.1622 0.412657 0.5\n vertex 16.1156 0.208659 0.5\n vertex 15.6621 0.481943 0\n endloop\n endfacet\n facet normal 0.704317 -0.0526569 -0.70793\n outer loop\n vertex 16.1156 0.208659 0.5\n vertex 16.1 0 0.5\n vertex 15.6156 0.242966 0\n endloop\n endfacet\n facet normal 0.706379 0.0453541 -0.706379\n outer loop\n vertex 16.1 0 0.5\n vertex 15.6156 -0.242966 0\n vertex 15.6 0 0\n endloop\n endfacet\n facet normal 0.706379 -0.0453541 -0.706379\n outer loop\n vertex 15.6156 0.242966 0\n vertex 16.1 0 0.5\n vertex 15.6 0 0\n endloop\n endfacet\n facet normal 0.594752 -0.387082 -0.704583\n outer loop\n vertex 15.9773 1.13641 0\n vertex 16.3433 0.788648 0.5\n vertex 15.8445 0.932363 0\n endloop\n endfacet\n facet normal 0.639653 -0.307935 -0.704287\n outer loop\n vertex 15.8445 0.932363 0\n vertex 16.2386 0.607437 0.5\n vertex 15.7389 0.713007 0\n endloop\n endfacet\n facet normal 0.673415 -0.223827 -0.704566\n outer loop\n vertex 15.7389 0.713007 0\n vertex 16.1622 0.412657 0.5\n vertex 15.6621 0.481943 0\n endloop\n endfacet\n facet normal 0.695933 -0.135414 -0.705224\n outer loop\n vertex 15.6621 0.481943 0\n vertex 16.1156 0.208659 0.5\n vertex 15.6156 0.242966 0\n endloop\n endfacet\n facet normal 0.704317 0.0526569 -0.70793\n outer loop\n vertex -18.9 0 0.5\n vertex -18.8844 -0.208659 0.5\n vertex -19.3844 -0.242966 0\n endloop\n endfacet\n facet normal 0.695933 0.135414 -0.705224\n outer loop\n vertex -18.8844 -0.208659 0.5\n vertex -19.3379 -0.481943 0\n vertex -19.3844 -0.242966 0\n endloop\n endfacet\n facet normal 0.687305 0.157003 -0.709198\n outer loop\n vertex -18.8844 -0.208659 0.5\n vertex -18.8378 -0.412657 0.5\n vertex -19.3379 -0.481943 0\n endloop\n endfacet\n facet normal 0.673415 0.223827 -0.704566\n outer loop\n vertex -18.8378 -0.412657 0.5\n vertex -19.2611 -0.713007 0\n vertex -19.3379 -0.481943 0\n endloop\n endfacet\n facet normal 0.65582 0.257237 -0.709739\n outer loop\n vertex -18.8378 -0.412657 0.5\n vertex -18.7614 -0.607437 0.5\n vertex -19.2611 -0.713007 0\n endloop\n endfacet\n facet normal 0.609942 0.352412 -0.709772\n outer loop\n vertex -18.7614 -0.607437 0.5\n vertex -18.6567 -0.788648 0.5\n vertex -19.1555 -0.932363 0\n endloop\n endfacet\n facet normal 0.551301 0.439442 -0.709195\n outer loop\n vertex -18.6567 -0.788648 0.5\n vertex -18.5263 -0.952241 0.5\n vertex -19.0227 -1.13641 0\n endloop\n endfacet\n facet normal 0.480344 0.517744 -0.707963\n outer loop\n vertex -18.5263 -0.952241 0.5\n vertex -18.3729 -1.09456 0.5\n vertex -18.8649 -1.3218 0\n endloop\n endfacet\n facet normal 0.404949 0.580576 -0.706363\n outer loop\n vertex -18.3729 -1.09456 0.5\n vertex -18.4849 -1.62477 0\n vertex -18.6846 -1.48548 0\n endloop\n endfacet\n facet normal 0.475786 0.524097 -0.706364\n outer loop\n vertex -18.3729 -1.09456 0.5\n vertex -18.6846 -1.48548 0\n vertex -18.8649 -1.3218 0\n endloop\n endfacet\n facet normal 0.639653 0.307935 -0.704287\n outer loop\n vertex -18.7614 -0.607437 0.5\n vertex -19.1555 -0.932363 0\n vertex -19.2611 -0.713007 0\n endloop\n endfacet\n facet normal 0.594752 0.387082 -0.704583\n outer loop\n vertex -18.6567 -0.788648 0.5\n vertex -19.0227 -1.13641 0\n vertex -19.1555 -0.932363 0\n endloop\n endfacet\n facet normal 0.539872 0.459528 -0.705246\n outer loop\n vertex -18.5263 -0.952241 0.5\n vertex -18.8649 -1.3218 0\n vertex -19.0227 -1.13641 0\n endloop\n endfacet\n facet normal 0.397831 0.583567 -0.70794\n outer loop\n vertex -18.3729 -1.09456 0.5\n vertex -18.2 -1.21243 0.5\n vertex -18.4849 -1.62477 0\n endloop\n endfacet\n facet normal 0.32799 0.628543 -0.705235\n outer loop\n vertex -18.2 -1.21243 0.5\n vertex -18.2691 -1.73738 0\n vertex -18.4849 -1.62477 0\n endloop\n endfacet\n facet normal 0.305939 0.635196 -0.709173\n outer loop\n vertex -18.2 -1.21243 0.5\n vertex -18.0115 -1.30322 0.5\n vertex -18.2691 -1.73738 0\n endloop\n endfacet\n facet normal 0.207595 0.673134 -0.709785\n outer loop\n vertex -18.0115 -1.30322 0.5\n vertex -17.8115 -1.3649 0.5\n vertex -18.0406 -1.82147 0\n endloop\n endfacet\n facet normal 0.104972 0.696559 -0.709779\n outer loop\n vertex -17.6046 -1.39608 0.5\n vertex -17.8032 -1.87564 0\n vertex -17.8115 -1.3649 0.5\n endloop\n endfacet\n facet normal 0 0.705031 -0.709177\n outer loop\n vertex -17.3954 -1.39608 0.5\n vertex -17.5609 -1.89902 0\n vertex -17.6046 -1.39608 0.5\n endloop\n endfacet\n facet normal -0.105245 0.698369 -0.707957\n outer loop\n vertex -17.1885 -1.3649 0.5\n vertex -17.3176 -1.89122 0\n vertex -17.3954 -1.39608 0.5\n endloop\n endfacet\n facet normal -0.201392 0.678574 -0.706385\n outer loop\n vertex -16.8438 -1.78309 0\n vertex -17.0772 -1.85236 0\n vertex -17.1885 -1.3649 0.5\n endloop\n endfacet\n facet normal -0.112953 0.698762 -0.70638\n outer loop\n vertex -17.1885 -1.3649 0.5\n vertex -17.0772 -1.85236 0\n vertex -17.3176 -1.89122 0\n endloop\n endfacet\n facet normal 0.245088 0.665983 -0.704556\n outer loop\n vertex -18.0115 -1.30322 0.5\n vertex -18.0406 -1.82147 0\n vertex -18.2691 -1.73738 0\n endloop\n endfacet\n facet normal 0.15792 0.692085 -0.704329\n outer loop\n vertex -17.8115 -1.3649 0.5\n vertex -17.8032 -1.87564 0\n vertex -18.0406 -1.82147 0\n endloop\n endfacet\n facet normal 0.0681584 0.706364 -0.70456\n outer loop\n vertex -17.6046 -1.39608 0.5\n vertex -17.5609 -1.89902 0\n vertex -17.8032 -1.87564 0\n endloop\n endfacet\n facet normal -0.0227171 0.708599 -0.705246\n outer loop\n vertex -17.3954 -1.39608 0.5\n vertex -17.3176 -1.89122 0\n vertex -17.5609 -1.89902 0\n endloop\n endfacet\n facet normal -0.208137 0.674892 -0.707955\n outer loop\n vertex -16.9885 -1.30322 0.5\n vertex -16.8438 -1.78309 0\n vertex -17.1885 -1.3649 0.5\n endloop\n endfacet\n facet normal -0.287007 0.648279 -0.705239\n outer loop\n vertex -16.6212 -1.68454 0\n vertex -16.8438 -1.78309 0\n vertex -16.9885 -1.30322 0.5\n endloop\n endfacet\n facet normal -0.30594 0.635198 -0.709171\n outer loop\n vertex -16.8 -1.21243 0.5\n vertex -16.6212 -1.68454 0\n vertex -16.9885 -1.30322 0.5\n endloop\n endfacet\n facet normal -0.396793 0.582043 -0.709775\n outer loop\n vertex -16.6271 -1.09456 0.5\n vertex -16.413 -1.55833 0\n vertex -16.8 -1.21243 0.5\n endloop\n endfacet\n facet normal -0.479095 0.516398 -0.709789\n outer loop\n vertex -16.4737 -0.952241 0.5\n vertex -16.2226 -1.40653 0\n vertex -16.6271 -1.09456 0.5\n endloop\n endfacet\n facet normal -0.551344 0.439477 -0.70914\n outer loop\n vertex -16.3433 -0.788648 0.5\n vertex -16.0533 -1.23163 0\n vertex -16.4737 -0.952241 0.5\n endloop\n endfacet\n facet normal -0.611486 0.353304 -0.707998\n outer loop\n vertex -16.2386 -0.607437 0.5\n vertex -15.9076 -1.03652 0\n vertex -16.3433 -0.788648 0.5\n endloop\n endfacet\n facet normal -0.656116 0.265733 -0.706327\n outer loop\n vertex -15.6968 -0.598705 0\n vertex -15.7882 -0.824379 0\n vertex -16.2386 -0.607437 0.5\n endloop\n endfacet\n facet normal -0.616883 0.347202 -0.706333\n outer loop\n vertex -15.7882 -0.824379 0\n vertex -15.9076 -1.03652 0\n vertex -16.2386 -0.607437 0.5\n endloop\n endfacet\n facet normal -0.367873 0.606854 -0.704555\n outer loop\n vertex -16.413 -1.55833 0\n vertex -16.6212 -1.68454 0\n vertex -16.8 -1.21243 0.5\n endloop\n endfacet\n facet normal -0.44253 0.555057 -0.704329\n outer loop\n vertex -16.2226 -1.40653 0\n vertex -16.413 -1.55833 0\n vertex -16.6271 -1.09456 0.5\n endloop\n endfacet\n facet normal -0.509909 0.493583 -0.704535\n outer loop\n vertex -16.0533 -1.23163 0\n vertex -16.2226 -1.40653 0\n vertex -16.4737 -0.952241 0.5\n endloop\n endfacet\n facet normal -0.568033 0.424183 -0.705271\n outer loop\n vertex -15.9076 -1.03652 0\n vertex -16.0533 -1.23163 0\n vertex -16.3433 -0.788648 0.5\n endloop\n endfacet\n facet normal -0.657491 0.257892 -0.707953\n outer loop\n vertex -16.1622 -0.412657 0.5\n vertex -15.6968 -0.598705 0\n vertex -16.2386 -0.607437 0.5\n endloop\n endfacet\n facet normal -0.685743 0.17995 -0.705248\n outer loop\n vertex -15.635 -0.363201 0\n vertex -15.6968 -0.598705 0\n vertex -16.1622 -0.412657 0.5\n endloop\n endfacet\n facet normal -0.687321 0.157007 -0.709181\n outer loop\n vertex -16.1156 -0.208659 0.5\n vertex -15.635 -0.363201 0\n vertex -16.1622 -0.412657 0.5\n endloop\n endfacet\n facet normal -0.702468 0.0525187 -0.709775\n outer loop\n vertex -16.1 0 0.5\n vertex -15.6039 -0.121733 0\n vertex -16.1156 -0.208659 0.5\n endloop\n endfacet\n facet normal -0.702468 -0.0525187 -0.709775\n outer loop\n vertex -15.6039 0.121733 0\n vertex -16.1 0 0.5\n vertex -16.1156 0.208659 0.5\n endloop\n endfacet\n facet normal -0.687321 -0.157007 -0.709181\n outer loop\n vertex -15.635 0.363201 0\n vertex -16.1156 0.208659 0.5\n vertex -16.1622 0.412657 0.5\n endloop\n endfacet\n facet normal -0.657491 -0.257892 -0.707953\n outer loop\n vertex -15.6968 0.598705 0\n vertex -16.1622 0.412657 0.5\n vertex -16.2386 0.607437 0.5\n endloop\n endfacet\n facet normal -0.616883 -0.347202 -0.706333\n outer loop\n vertex -15.9076 1.03652 0\n vertex -15.7882 0.824379 0\n vertex -16.2386 0.607437 0.5\n endloop\n endfacet\n facet normal -0.656116 -0.265733 -0.706327\n outer loop\n vertex -15.7882 0.824379 0\n vertex -15.6968 0.598705 0\n vertex -16.2386 0.607437 0.5\n endloop\n endfacet\n facet normal -0.70384 0.0906515 -0.70455\n outer loop\n vertex -15.6039 -0.121733 0\n vertex -15.635 -0.363201 0\n vertex -16.1156 -0.208659 0.5\n endloop\n endfacet\n facet normal -0.70987 -0 -0.704333\n outer loop\n vertex -15.6039 0.121733 0\n vertex -15.6039 -0.121733 0\n vertex -16.1 0 0.5\n endloop\n endfacet\n facet normal -0.70384 -0.0906515 -0.70455\n outer loop\n vertex -15.635 0.363201 0\n vertex -15.6039 0.121733 0\n vertex -16.1156 0.208659 0.5\n endloop\n endfacet\n facet normal -0.685743 -0.17995 -0.705248\n outer loop\n vertex -15.6968 0.598705 0\n vertex -15.635 0.363201 0\n vertex -16.1622 0.412657 0.5\n endloop\n endfacet\n facet normal -0.611486 -0.353304 -0.707998\n outer loop\n vertex -15.9076 1.03652 0\n vertex -16.2386 0.607437 0.5\n vertex -16.3433 0.788648 0.5\n endloop\n endfacet\n facet normal -0.568033 -0.424183 -0.705271\n outer loop\n vertex -16.0533 1.23163 0\n vertex -15.9076 1.03652 0\n vertex -16.3433 0.788648 0.5\n endloop\n endfacet\n facet normal -0.551344 -0.439477 -0.70914\n outer loop\n vertex -16.0533 1.23163 0\n vertex -16.3433 0.788648 0.5\n vertex -16.4737 0.952241 0.5\n endloop\n endfacet\n facet normal -0.479095 -0.516398 -0.709789\n outer loop\n vertex -16.2226 1.40653 0\n vertex -16.4737 0.952241 0.5\n vertex -16.6271 1.09456 0.5\n endloop\n endfacet\n facet normal -0.396793 -0.582043 -0.709775\n outer loop\n vertex -16.413 1.55833 0\n vertex -16.6271 1.09456 0.5\n vertex -16.8 1.21243 0.5\n endloop\n endfacet\n facet normal -0.30594 -0.635198 -0.709171\n outer loop\n vertex -16.6212 1.68454 0\n vertex -16.8 1.21243 0.5\n vertex -16.9885 1.30322 0.5\n endloop\n endfacet\n facet normal -0.208137 -0.674892 -0.707955\n outer loop\n vertex -16.8438 1.78309 0\n vertex -16.9885 1.30322 0.5\n vertex -17.1885 1.3649 0.5\n endloop\n endfacet\n facet normal -0.112953 -0.698762 -0.70638\n outer loop\n vertex -17.0772 1.85236 0\n vertex -17.1885 1.3649 0.5\n vertex -17.3176 1.89122 0\n endloop\n endfacet\n facet normal -0.201392 -0.678574 -0.706385\n outer loop\n vertex -17.0772 1.85236 0\n vertex -16.8438 1.78309 0\n vertex -17.1885 1.3649 0.5\n endloop\n endfacet\n facet normal -0.509909 -0.493583 -0.704535\n outer loop\n vertex -16.2226 1.40653 0\n vertex -16.0533 1.23163 0\n vertex -16.4737 0.952241 0.5\n endloop\n endfacet\n facet normal -0.44253 -0.555057 -0.704329\n outer loop\n vertex -16.413 1.55833 0\n vertex -16.2226 1.40653 0\n vertex -16.6271 1.09456 0.5\n endloop\n endfacet\n facet normal -0.367873 -0.606854 -0.704555\n outer loop\n vertex -16.6212 1.68454 0\n vertex -16.413 1.55833 0\n vertex -16.8 1.21243 0.5\n endloop\n endfacet\n facet normal -0.287007 -0.648279 -0.705239\n outer loop\n vertex -16.8438 1.78309 0\n vertex -16.6212 1.68454 0\n vertex -16.9885 1.30322 0.5\n endloop\n endfacet\n facet normal -0.105245 -0.698369 -0.707957\n outer loop\n vertex -17.3176 1.89122 0\n vertex -17.1885 1.3649 0.5\n vertex -17.3954 1.39608 0.5\n endloop\n endfacet\n facet normal -0.0227171 -0.708599 -0.705246\n outer loop\n vertex -17.3176 1.89122 0\n vertex -17.3954 1.39608 0.5\n vertex -17.5609 1.89902 0\n endloop\n endfacet\n facet normal 0 -0.705031 -0.709177\n outer loop\n vertex -17.5609 1.89902 0\n vertex -17.3954 1.39608 0.5\n vertex -17.6046 1.39608 0.5\n endloop\n endfacet\n facet normal 0.104972 -0.696559 -0.709779\n outer loop\n vertex -17.8032 1.87564 0\n vertex -17.6046 1.39608 0.5\n vertex -17.8115 1.3649 0.5\n endloop\n endfacet\n facet normal 0.207595 -0.673134 -0.709785\n outer loop\n vertex -17.8115 1.3649 0.5\n vertex -18.0115 1.30322 0.5\n vertex -18.0406 1.82147 0\n endloop\n endfacet\n facet normal 0.305939 -0.635196 -0.709173\n outer loop\n vertex -18.0115 1.30322 0.5\n vertex -18.2 1.21243 0.5\n vertex -18.2691 1.73738 0\n endloop\n endfacet\n facet normal 0.397831 -0.583567 -0.70794\n outer loop\n vertex -18.2 1.21243 0.5\n vertex -18.3729 1.09456 0.5\n vertex -18.4849 1.62477 0\n endloop\n endfacet\n facet normal 0.475786 -0.524097 -0.706364\n outer loop\n vertex -18.6846 1.48548 0\n vertex -18.3729 1.09456 0.5\n vertex -18.8649 1.3218 0\n endloop\n endfacet\n facet normal 0.404949 -0.580576 -0.706363\n outer loop\n vertex -18.4849 1.62477 0\n vertex -18.3729 1.09456 0.5\n vertex -18.6846 1.48548 0\n endloop\n endfacet\n facet normal 0.0681584 -0.706364 -0.70456\n outer loop\n vertex -17.5609 1.89902 0\n vertex -17.6046 1.39608 0.5\n vertex -17.8032 1.87564 0\n endloop\n endfacet\n facet normal 0.15792 -0.692085 -0.704329\n outer loop\n vertex -17.8032 1.87564 0\n vertex -17.8115 1.3649 0.5\n vertex -18.0406 1.82147 0\n endloop\n endfacet\n facet normal 0.245088 -0.665983 -0.704556\n outer loop\n vertex -18.0406 1.82147 0\n vertex -18.0115 1.30322 0.5\n vertex -18.2691 1.73738 0\n endloop\n endfacet\n facet normal 0.32799 -0.628543 -0.705235\n outer loop\n vertex -18.2691 1.73738 0\n vertex -18.2 1.21243 0.5\n vertex -18.4849 1.62477 0\n endloop\n endfacet\n facet normal 0.480344 -0.517744 -0.707963\n outer loop\n vertex -18.3729 1.09456 0.5\n vertex -18.5263 0.952241 0.5\n vertex -18.8649 1.3218 0\n endloop\n endfacet\n facet normal 0.539872 -0.459528 -0.705246\n outer loop\n vertex -18.8649 1.3218 0\n vertex -18.5263 0.952241 0.5\n vertex -19.0227 1.13641 0\n endloop\n endfacet\n facet normal 0.551301 -0.439442 -0.709195\n outer loop\n vertex -18.5263 0.952241 0.5\n vertex -18.6567 0.788648 0.5\n vertex -19.0227 1.13641 0\n endloop\n endfacet\n facet normal 0.609942 -0.352412 -0.709772\n outer loop\n vertex -18.6567 0.788648 0.5\n vertex -18.7614 0.607437 0.5\n vertex -19.1555 0.932363 0\n endloop\n endfacet\n facet normal 0.65582 -0.257237 -0.709739\n outer loop\n vertex -18.7614 0.607437 0.5\n vertex -18.8378 0.412657 0.5\n vertex -19.2611 0.713007 0\n endloop\n endfacet\n facet normal 0.687305 -0.157003 -0.709198\n outer loop\n vertex -18.8378 0.412657 0.5\n vertex -18.8844 0.208659 0.5\n vertex -19.3379 0.481943 0\n endloop\n endfacet\n facet normal 0.704317 -0.0526569 -0.70793\n outer loop\n vertex -18.8844 0.208659 0.5\n vertex -18.9 0 0.5\n vertex -19.3844 0.242966 0\n endloop\n endfacet\n facet normal 0.706379 0.0453541 -0.706379\n outer loop\n vertex -18.9 0 0.5\n vertex -19.3844 -0.242966 0\n vertex -19.4 0 0\n endloop\n endfacet\n facet normal 0.706379 -0.0453541 -0.706379\n outer loop\n vertex -19.3844 0.242966 0\n vertex -18.9 0 0.5\n vertex -19.4 0 0\n endloop\n endfacet\n facet normal 0.594752 -0.387082 -0.704583\n outer loop\n vertex -19.0227 1.13641 0\n vertex -18.6567 0.788648 0.5\n vertex -19.1555 0.932363 0\n endloop\n endfacet\n facet normal 0.639653 -0.307935 -0.704287\n outer loop\n vertex -19.1555 0.932363 0\n vertex -18.7614 0.607437 0.5\n vertex -19.2611 0.713007 0\n endloop\n endfacet\n facet normal 0.673415 -0.223827 -0.704566\n outer loop\n vertex -19.2611 0.713007 0\n vertex -18.8378 0.412657 0.5\n vertex -19.3379 0.481943 0\n endloop\n endfacet\n facet normal 0.695933 -0.135414 -0.705224\n outer loop\n vertex -19.3379 0.481943 0\n vertex -18.8844 0.208659 0.5\n vertex -19.3844 0.242966 0\n endloop\n endfacet\n facet normal 0.705153 0.0427118 -0.707767\n outer loop\n vertex 12.85 -19 0.5\n vertex 12.8657 -19.2592 0.5\n vertex 12.3655 -19.2865 0\n endloop\n endfacet\n facet normal 0.699151 0.114797 -0.705698\n outer loop\n vertex 12.8657 -19.2592 0.5\n vertex 12.412 -19.5697 0\n vertex 12.3655 -19.2865 0\n endloop\n endfacet\n facet normal 0.693954 0.127211 -0.708692\n outer loop\n vertex 12.8657 -19.2592 0.5\n vertex 12.9125 -19.5145 0.5\n vertex 12.412 -19.5697 0\n endloop\n endfacet\n facet normal 0.683382 0.189636 -0.705001\n outer loop\n vertex 12.9125 -19.5145 0.5\n vertex 12.4887 -19.8461 0\n vertex 12.412 -19.5697 0\n endloop\n endfacet\n facet normal 0.672951 0.209568 -0.709379\n outer loop\n vertex 12.9125 -19.5145 0.5\n vertex 12.9897 -19.7624 0.5\n vertex 12.4887 -19.8461 0\n endloop\n endfacet\n facet normal 0.64234 0.289161 -0.709778\n outer loop\n vertex 12.9897 -19.7624 0.5\n vertex 13.0963 -19.9992 0.5\n vertex 12.5949 -20.1127 0\n endloop\n endfacet\n facet normal 0.6027 0.364442 -0.709883\n outer loop\n vertex 13.0963 -19.9992 0.5\n vertex 13.2306 -20.2213 0.5\n vertex 12.7293 -20.3662 0\n endloop\n endfacet\n facet normal 0.554659 0.434447 -0.709655\n outer loop\n vertex 13.2306 -20.2213 0.5\n vertex 13.3907 -20.4257 0.5\n vertex 12.8904 -20.6037 0\n endloop\n endfacet\n facet normal 0.49852 0.49852 -0.709194\n outer loop\n vertex 13.3907 -20.4257 0.5\n vertex 13.5743 -20.6093 0.5\n vertex 13.0761 -20.8224 0\n endloop\n endfacet\n facet normal 0.435218 0.555643 -0.708411\n outer loop\n vertex 13.5743 -20.6093 0.5\n vertex 13.7787 -20.7694 0.5\n vertex 13.2844 -21.0197 0\n endloop\n endfacet\n facet normal 0.365753 0.604867 -0.707362\n outer loop\n vertex 13.7787 -20.7694 0.5\n vertex 14.0008 -20.9037 0.5\n vertex 13.5129 -21.1934 0\n endloop\n endfacet\n facet normal 0.297312 0.64249 -0.706266\n outer loop\n vertex 14.0008 -20.9037 0.5\n vertex 14.0191 -21.4618 0\n vertex 13.7587 -21.3413 0\n endloop\n endfacet\n facet normal 0.364646 0.606018 -0.706948\n outer loop\n vertex 14.0008 -20.9037 0.5\n vertex 13.7587 -21.3413 0\n vertex 13.5129 -21.1934 0\n endloop\n endfacet\n facet normal 0.659271 0.26262 -0.704552\n outer loop\n vertex 12.9897 -19.7624 0.5\n vertex 12.5949 -20.1127 0\n vertex 12.4887 -19.8461 0\n endloop\n endfacet\n facet normal 0.62714 0.332496 -0.704373\n outer loop\n vertex 13.0963 -19.9992 0.5\n vertex 12.7293 -20.3662 0\n vertex 12.5949 -20.1127 0\n endloop\n endfacet\n facet normal 0.587409 0.398449 -0.704407\n outer loop\n vertex 13.2306 -20.2213 0.5\n vertex 12.8904 -20.6037 0\n vertex 12.7293 -20.3662 0\n endloop\n endfacet\n facet normal 0.540858 0.459247 -0.704674\n outer loop\n vertex 13.3907 -20.4257 0.5\n vertex 13.0761 -20.8224 0\n vertex 12.8904 -20.6037 0\n endloop\n endfacet\n facet normal 0.487568 0.514752 -0.7052\n outer loop\n vertex 13.5743 -20.6093 0.5\n vertex 13.2844 -21.0197 0\n vertex 13.0761 -20.8224 0\n endloop\n endfacet\n facet normal 0.428607 0.563826 -0.705972\n outer loop\n vertex 13.7787 -20.7694 0.5\n vertex 13.5129 -21.1934 0\n vertex 13.2844 -21.0197 0\n endloop\n endfacet\n facet normal 0.289856 0.643884 -0.708094\n outer loop\n vertex 14.2376 -21.0103 0.5\n vertex 14.0191 -21.4618 0\n vertex 14.0008 -20.9037 0.5\n endloop\n endfacet\n facet normal 0.226285 0.671692 -0.705425\n outer loop\n vertex 14.2376 -21.0103 0.5\n vertex 14.291 -21.5534 0\n vertex 14.0191 -21.4618 0\n endloop\n endfacet\n facet normal 0.209687 0.673334 -0.70898\n outer loop\n vertex 14.4855 -21.0875 0.5\n vertex 14.291 -21.5534 0\n vertex 14.2376 -21.0103 0.5\n endloop\n endfacet\n facet normal 0.127055 0.6931 -0.709556\n outer loop\n vertex 14.7408 -21.1343 0.5\n vertex 14.5713 -21.6151 0\n vertex 14.4855 -21.0875 0.5\n endloop\n endfacet\n facet normal 0.0425867 0.703088 -0.709826\n outer loop\n vertex 15 -21.15 0.5\n vertex 14.8565 -21.6461 0\n vertex 14.7408 -21.1343 0.5\n endloop\n endfacet\n facet normal -0.0425867 0.703088 -0.709826\n outer loop\n vertex 15.2592 -21.1343 0.5\n vertex 15.1435 -21.6461 0\n vertex 15 -21.15 0.5\n endloop\n endfacet\n facet normal -0.127055 0.6931 -0.709556\n outer loop\n vertex 15.5145 -21.0875 0.5\n vertex 15.4287 -21.6151 0\n vertex 15.2592 -21.1343 0.5\n endloop\n endfacet\n facet normal -0.209687 0.673334 -0.70898\n outer loop\n vertex 15.7624 -21.0103 0.5\n vertex 15.709 -21.5534 0\n vertex 15.5145 -21.0875 0.5\n endloop\n endfacet\n facet normal -0.289856 0.643884 -0.708094\n outer loop\n vertex 15.9992 -20.9037 0.5\n vertex 15.9809 -21.4618 0\n vertex 15.7624 -21.0103 0.5\n endloop\n endfacet\n facet normal -0.364646 0.606018 -0.706948\n outer loop\n vertex 16.4871 -21.1934 0\n vertex 16.2413 -21.3413 0\n vertex 15.9992 -20.9037 0.5\n endloop\n endfacet\n facet normal -0.297312 0.64249 -0.706266\n outer loop\n vertex 15.9992 -20.9037 0.5\n vertex 16.2413 -21.3413 0\n vertex 15.9809 -21.4618 0\n endloop\n endfacet\n facet normal 0.152494 0.692774 -0.704847\n outer loop\n vertex 14.4855 -21.0875 0.5\n vertex 14.5713 -21.6151 0\n vertex 14.291 -21.5534 0\n endloop\n endfacet\n facet normal 0.0766926 0.705572 -0.704476\n outer loop\n vertex 14.7408 -21.1343 0.5\n vertex 14.8565 -21.6461 0\n vertex 14.5713 -21.6151 0\n endloop\n endfacet\n facet normal 0 0.70987 -0.704333\n outer loop\n vertex 15 -21.15 0.5\n vertex 15.1435 -21.6461 0\n vertex 14.8565 -21.6461 0\n endloop\n endfacet\n facet normal -0.0766926 0.705572 -0.704476\n outer loop\n vertex 15.2592 -21.1343 0.5\n vertex 15.4287 -21.6151 0\n vertex 15.1435 -21.6461 0\n endloop\n endfacet\n facet normal -0.152494 0.692774 -0.704847\n outer loop\n vertex 15.5145 -21.0875 0.5\n vertex 15.709 -21.5534 0\n vertex 15.4287 -21.6151 0\n endloop\n endfacet\n facet normal -0.226285 0.671692 -0.705425\n outer loop\n vertex 15.7624 -21.0103 0.5\n vertex 15.9809 -21.4618 0\n vertex 15.709 -21.5534 0\n endloop\n endfacet\n facet normal -0.365753 0.604867 -0.707362\n outer loop\n vertex 16.2213 -20.7694 0.5\n vertex 16.4871 -21.1934 0\n vertex 15.9992 -20.9037 0.5\n endloop\n endfacet\n facet normal -0.428607 0.563826 -0.705972\n outer loop\n vertex 16.7156 -21.0197 0\n vertex 16.4871 -21.1934 0\n vertex 16.2213 -20.7694 0.5\n endloop\n endfacet\n facet normal -0.435218 0.555643 -0.708411\n outer loop\n vertex 16.4257 -20.6093 0.5\n vertex 16.7156 -21.0197 0\n vertex 16.2213 -20.7694 0.5\n endloop\n endfacet\n facet normal -0.49852 0.49852 -0.709194\n outer loop\n vertex 16.6093 -20.4257 0.5\n vertex 16.9239 -20.8224 0\n vertex 16.4257 -20.6093 0.5\n endloop\n endfacet\n facet normal -0.554659 0.434447 -0.709655\n outer loop\n vertex 16.7694 -20.2213 0.5\n vertex 17.1096 -20.6037 0\n vertex 16.6093 -20.4257 0.5\n endloop\n endfacet\n facet normal -0.6027 0.364442 -0.709883\n outer loop\n vertex 16.9037 -19.9992 0.5\n vertex 17.2707 -20.3662 0\n vertex 16.7694 -20.2213 0.5\n endloop\n endfacet\n facet normal -0.64234 0.289161 -0.709778\n outer loop\n vertex 17.0103 -19.7624 0.5\n vertex 17.4051 -20.1127 0\n vertex 16.9037 -19.9992 0.5\n endloop\n endfacet\n facet normal -0.672951 0.209568 -0.709379\n outer loop\n vertex 17.0875 -19.5145 0.5\n vertex 17.5113 -19.8461 0\n vertex 17.0103 -19.7624 0.5\n endloop\n endfacet\n facet normal -0.693954 0.127211 -0.708692\n outer loop\n vertex 17.1343 -19.2592 0.5\n vertex 17.588 -19.5697 0\n vertex 17.0875 -19.5145 0.5\n endloop\n endfacet\n facet normal -0.705153 0.0427118 -0.707767\n outer loop\n vertex 17.15 -19 0.5\n vertex 17.6345 -19.2865 0\n vertex 17.1343 -19.2592 0.5\n endloop\n endfacet\n facet normal -0.70659 -0.0382274 -0.70659\n outer loop\n vertex 17.6345 -18.7135 0\n vertex 17.65 -19 0\n vertex 17.15 -19 0.5\n endloop\n endfacet\n facet normal -0.70659 0.0382274 -0.70659\n outer loop\n vertex 17.65 -19 0\n vertex 17.6345 -19.2865 0\n vertex 17.15 -19 0.5\n endloop\n endfacet\n facet normal -0.487568 0.514752 -0.7052\n outer loop\n vertex 16.9239 -20.8224 0\n vertex 16.7156 -21.0197 0\n vertex 16.4257 -20.6093 0.5\n endloop\n endfacet\n facet normal -0.540858 0.459247 -0.704674\n outer loop\n vertex 17.1096 -20.6037 0\n vertex 16.9239 -20.8224 0\n vertex 16.6093 -20.4257 0.5\n endloop\n endfacet\n facet normal -0.587409 0.398449 -0.704407\n outer loop\n vertex 17.2707 -20.3662 0\n vertex 17.1096 -20.6037 0\n vertex 16.7694 -20.2213 0.5\n endloop\n endfacet\n facet normal -0.62714 0.332496 -0.704373\n outer loop\n vertex 17.4051 -20.1127 0\n vertex 17.2707 -20.3662 0\n vertex 16.9037 -19.9992 0.5\n endloop\n endfacet\n facet normal -0.659271 0.26262 -0.704552\n outer loop\n vertex 17.5113 -19.8461 0\n vertex 17.4051 -20.1127 0\n vertex 17.0103 -19.7624 0.5\n endloop\n endfacet\n facet normal -0.683382 0.189636 -0.705001\n outer loop\n vertex 17.588 -19.5697 0\n vertex 17.5113 -19.8461 0\n vertex 17.0875 -19.5145 0.5\n endloop\n endfacet\n facet normal -0.699151 0.114797 -0.705698\n outer loop\n vertex 17.6345 -19.2865 0\n vertex 17.588 -19.5697 0\n vertex 17.1343 -19.2592 0.5\n endloop\n endfacet\n facet normal -0.705153 -0.0427118 -0.707767\n outer loop\n vertex 17.6345 -18.7135 0\n vertex 17.15 -19 0.5\n vertex 17.1343 -18.7408 0.5\n endloop\n endfacet\n facet normal -0.699151 -0.114797 -0.705698\n outer loop\n vertex 17.588 -18.4303 0\n vertex 17.6345 -18.7135 0\n vertex 17.1343 -18.7408 0.5\n endloop\n endfacet\n facet normal -0.693954 -0.127211 -0.708692\n outer loop\n vertex 17.588 -18.4303 0\n vertex 17.1343 -18.7408 0.5\n vertex 17.0875 -18.4855 0.5\n endloop\n endfacet\n facet normal -0.672951 -0.209568 -0.709379\n outer loop\n vertex 17.5113 -18.1539 0\n vertex 17.0875 -18.4855 0.5\n vertex 17.0103 -18.2376 0.5\n endloop\n endfacet\n facet normal -0.64234 -0.289161 -0.709778\n outer loop\n vertex 17.4051 -17.8873 0\n vertex 17.0103 -18.2376 0.5\n vertex 16.9037 -18.0008 0.5\n endloop\n endfacet\n facet normal -0.6027 -0.364442 -0.709883\n outer loop\n vertex 17.2707 -17.6338 0\n vertex 16.9037 -18.0008 0.5\n vertex 16.7694 -17.7787 0.5\n endloop\n endfacet\n facet normal -0.554659 -0.434447 -0.709655\n outer loop\n vertex 17.1096 -17.3963 0\n vertex 16.7694 -17.7787 0.5\n vertex 16.6093 -17.5743 0.5\n endloop\n endfacet\n facet normal -0.49852 -0.49852 -0.709194\n outer loop\n vertex 16.9239 -17.1776 0\n vertex 16.6093 -17.5743 0.5\n vertex 16.4257 -17.3907 0.5\n endloop\n endfacet\n facet normal -0.435218 -0.555643 -0.708411\n outer loop\n vertex 16.7156 -16.9803 0\n vertex 16.4257 -17.3907 0.5\n vertex 16.2213 -17.2306 0.5\n endloop\n endfacet\n facet normal -0.365753 -0.604867 -0.707362\n outer loop\n vertex 16.4871 -16.8066 0\n vertex 16.2213 -17.2306 0.5\n vertex 15.9992 -17.0963 0.5\n endloop\n endfacet\n facet normal -0.297312 -0.64249 -0.706266\n outer loop\n vertex 16.2413 -16.6587 0\n vertex 15.9992 -17.0963 0.5\n vertex 15.9809 -16.5382 0\n endloop\n endfacet\n facet normal -0.364646 -0.606018 -0.706948\n outer loop\n vertex 16.2413 -16.6587 0\n vertex 16.4871 -16.8066 0\n vertex 15.9992 -17.0963 0.5\n endloop\n endfacet\n facet normal -0.683382 -0.189636 -0.705001\n outer loop\n vertex 17.5113 -18.1539 0\n vertex 17.588 -18.4303 0\n vertex 17.0875 -18.4855 0.5\n endloop\n endfacet\n facet normal -0.659271 -0.26262 -0.704552\n outer loop\n vertex 17.4051 -17.8873 0\n vertex 17.5113 -18.1539 0\n vertex 17.0103 -18.2376 0.5\n endloop\n endfacet\n facet normal -0.62714 -0.332496 -0.704373\n outer loop\n vertex 17.2707 -17.6338 0\n vertex 17.4051 -17.8873 0\n vertex 16.9037 -18.0008 0.5\n endloop\n endfacet\n facet normal -0.587409 -0.398449 -0.704407\n outer loop\n vertex 17.1096 -17.3963 0\n vertex 17.2707 -17.6338 0\n vertex 16.7694 -17.7787 0.5\n endloop\n endfacet\n facet normal -0.540858 -0.459247 -0.704674\n outer loop\n vertex 16.9239 -17.1776 0\n vertex 17.1096 -17.3963 0\n vertex 16.6093 -17.5743 0.5\n endloop\n endfacet\n facet normal -0.487568 -0.514752 -0.7052\n outer loop\n vertex 16.7156 -16.9803 0\n vertex 16.9239 -17.1776 0\n vertex 16.4257 -17.3907 0.5\n endloop\n endfacet\n facet normal -0.428607 -0.563826 -0.705972\n outer loop\n vertex 16.4871 -16.8066 0\n vertex 16.7156 -16.9803 0\n vertex 16.2213 -17.2306 0.5\n endloop\n endfacet\n facet normal -0.289856 -0.643884 -0.708094\n outer loop\n vertex 15.9809 -16.5382 0\n vertex 15.9992 -17.0963 0.5\n vertex 15.7624 -16.9897 0.5\n endloop\n endfacet\n facet normal -0.226285 -0.671692 -0.705425\n outer loop\n vertex 15.9809 -16.5382 0\n vertex 15.7624 -16.9897 0.5\n vertex 15.709 -16.4466 0\n endloop\n endfacet\n facet normal -0.209687 -0.673334 -0.70898\n outer loop\n vertex 15.709 -16.4466 0\n vertex 15.7624 -16.9897 0.5\n vertex 15.5145 -16.9125 0.5\n endloop\n endfacet\n facet normal -0.127055 -0.6931 -0.709556\n outer loop\n vertex 15.4287 -16.3849 0\n vertex 15.5145 -16.9125 0.5\n vertex 15.2592 -16.8657 0.5\n endloop\n endfacet\n facet normal -0.0425867 -0.703088 -0.709826\n outer loop\n vertex 15.1435 -16.3539 0\n vertex 15.2592 -16.8657 0.5\n vertex 15 -16.85 0.5\n endloop\n endfacet\n facet normal 0.0425867 -0.703088 -0.709826\n outer loop\n vertex 14.8565 -16.3539 0\n vertex 15 -16.85 0.5\n vertex 14.7408 -16.8657 0.5\n endloop\n endfacet\n facet normal 0.127055 -0.6931 -0.709556\n outer loop\n vertex 14.5713 -16.3849 0\n vertex 14.7408 -16.8657 0.5\n vertex 14.4855 -16.9125 0.5\n endloop\n endfacet\n facet normal 0.209687 -0.673334 -0.70898\n outer loop\n vertex 14.291 -16.4466 0\n vertex 14.4855 -16.9125 0.5\n vertex 14.2376 -16.9897 0.5\n endloop\n endfacet\n facet normal 0.289856 -0.643884 -0.708094\n outer loop\n vertex 14.0191 -16.5382 0\n vertex 14.2376 -16.9897 0.5\n vertex 14.0008 -17.0963 0.5\n endloop\n endfacet\n facet normal 0.364646 -0.606018 -0.706948\n outer loop\n vertex 13.7587 -16.6587 0\n vertex 14.0008 -17.0963 0.5\n vertex 13.5129 -16.8066 0\n endloop\n endfacet\n facet normal 0.297312 -0.64249 -0.706266\n outer loop\n vertex 14.0191 -16.5382 0\n vertex 14.0008 -17.0963 0.5\n vertex 13.7587 -16.6587 0\n endloop\n endfacet\n facet normal -0.152494 -0.692774 -0.704847\n outer loop\n vertex 15.709 -16.4466 0\n vertex 15.5145 -16.9125 0.5\n vertex 15.4287 -16.3849 0\n endloop\n endfacet\n facet normal -0.0766926 -0.705572 -0.704476\n outer loop\n vertex 15.4287 -16.3849 0\n vertex 15.2592 -16.8657 0.5\n vertex 15.1435 -16.3539 0\n endloop\n endfacet\n facet normal -0 -0.70987 -0.704333\n outer loop\n vertex 15.1435 -16.3539 0\n vertex 15 -16.85 0.5\n vertex 14.8565 -16.3539 0\n endloop\n endfacet\n facet normal 0.0766926 -0.705572 -0.704476\n outer loop\n vertex 14.8565 -16.3539 0\n vertex 14.7408 -16.8657 0.5\n vertex 14.5713 -16.3849 0\n endloop\n endfacet\n facet normal 0.152494 -0.692774 -0.704847\n outer loop\n vertex 14.5713 -16.3849 0\n vertex 14.4855 -16.9125 0.5\n vertex 14.291 -16.4466 0\n endloop\n endfacet\n facet normal 0.226285 -0.671692 -0.705425\n outer loop\n vertex 14.291 -16.4466 0\n vertex 14.2376 -16.9897 0.5\n vertex 14.0191 -16.5382 0\n endloop\n endfacet\n facet normal 0.365753 -0.604867 -0.707362\n outer loop\n vertex 14.0008 -17.0963 0.5\n vertex 13.7787 -17.2306 0.5\n vertex 13.5129 -16.8066 0\n endloop\n endfacet\n facet normal 0.428607 -0.563826 -0.705972\n outer loop\n vertex 13.5129 -16.8066 0\n vertex 13.7787 -17.2306 0.5\n vertex 13.2844 -16.9803 0\n endloop\n endfacet\n facet normal 0.435218 -0.555643 -0.708411\n outer loop\n vertex 13.7787 -17.2306 0.5\n vertex 13.5743 -17.3907 0.5\n vertex 13.2844 -16.9803 0\n endloop\n endfacet\n facet normal 0.49852 -0.49852 -0.709194\n outer loop\n vertex 13.5743 -17.3907 0.5\n vertex 13.3907 -17.5743 0.5\n vertex 13.0761 -17.1776 0\n endloop\n endfacet\n facet normal 0.554659 -0.434447 -0.709655\n outer loop\n vertex 13.3907 -17.5743 0.5\n vertex 13.2306 -17.7787 0.5\n vertex 12.8904 -17.3963 0\n endloop\n endfacet\n facet normal 0.6027 -0.364442 -0.709883\n outer loop\n vertex 13.2306 -17.7787 0.5\n vertex 13.0963 -18.0008 0.5\n vertex 12.7293 -17.6338 0\n endloop\n endfacet\n facet normal 0.64234 -0.289161 -0.709778\n outer loop\n vertex 13.0963 -18.0008 0.5\n vertex 12.9897 -18.2376 0.5\n vertex 12.5949 -17.8873 0\n endloop\n endfacet\n facet normal 0.672951 -0.209568 -0.709379\n outer loop\n vertex 12.9897 -18.2376 0.5\n vertex 12.9125 -18.4855 0.5\n vertex 12.4887 -18.1539 0\n endloop\n endfacet\n facet normal 0.693954 -0.127211 -0.708692\n outer loop\n vertex 12.9125 -18.4855 0.5\n vertex 12.8657 -18.7408 0.5\n vertex 12.412 -18.4303 0\n endloop\n endfacet\n facet normal 0.705153 -0.0427118 -0.707767\n outer loop\n vertex 12.8657 -18.7408 0.5\n vertex 12.85 -19 0.5\n vertex 12.3655 -18.7135 0\n endloop\n endfacet\n facet normal 0.70659 0.0382274 -0.70659\n outer loop\n vertex 12.85 -19 0.5\n vertex 12.3655 -19.2865 0\n vertex 12.35 -19 0\n endloop\n endfacet\n facet normal 0.70659 -0.0382274 -0.70659\n outer loop\n vertex 12.3655 -18.7135 0\n vertex 12.85 -19 0.5\n vertex 12.35 -19 0\n endloop\n endfacet\n facet normal 0.487568 -0.514752 -0.7052\n outer loop\n vertex 13.2844 -16.9803 0\n vertex 13.5743 -17.3907 0.5\n vertex 13.0761 -17.1776 0\n endloop\n endfacet\n facet normal 0.540858 -0.459247 -0.704674\n outer loop\n vertex 13.0761 -17.1776 0\n vertex 13.3907 -17.5743 0.5\n vertex 12.8904 -17.3963 0\n endloop\n endfacet\n facet normal 0.587409 -0.398449 -0.704407\n outer loop\n vertex 12.8904 -17.3963 0\n vertex 13.2306 -17.7787 0.5\n vertex 12.7293 -17.6338 0\n endloop\n endfacet\n facet normal 0.62714 -0.332496 -0.704373\n outer loop\n vertex 12.7293 -17.6338 0\n vertex 13.0963 -18.0008 0.5\n vertex 12.5949 -17.8873 0\n endloop\n endfacet\n facet normal 0.659271 -0.26262 -0.704552\n outer loop\n vertex 12.5949 -17.8873 0\n vertex 12.9897 -18.2376 0.5\n vertex 12.4887 -18.1539 0\n endloop\n endfacet\n facet normal 0.683382 -0.189636 -0.705001\n outer loop\n vertex 12.4887 -18.1539 0\n vertex 12.9125 -18.4855 0.5\n vertex 12.412 -18.4303 0\n endloop\n endfacet\n facet normal 0.699151 -0.114797 -0.705698\n outer loop\n vertex 12.412 -18.4303 0\n vertex 12.8657 -18.7408 0.5\n vertex 12.3655 -18.7135 0\n endloop\n endfacet\n facet normal 0.705192 0.0426597 -0.707732\n outer loop\n vertex -2.15 -19 0.5\n vertex -2.13432 -19.2592 0.5\n vertex -2.63447 -19.2865 0\n endloop\n endfacet\n facet normal 0.699204 0.114633 -0.705672\n outer loop\n vertex -2.13432 -19.2592 0.5\n vertex -2.58804 -19.5697 0\n vertex -2.63447 -19.2865 0\n endloop\n endfacet\n facet normal 0.693941 0.127209 -0.708706\n outer loop\n vertex -2.13432 -19.2592 0.5\n vertex -2.08752 -19.5145 0.5\n vertex -2.58804 -19.5697 0\n endloop\n endfacet\n facet normal 0.683342 0.189773 -0.705004\n outer loop\n vertex -2.08752 -19.5145 0.5\n vertex -2.51128 -19.8461 0\n vertex -2.58804 -19.5697 0\n endloop\n endfacet\n facet normal 0.672927 0.209669 -0.709372\n outer loop\n vertex -2.08752 -19.5145 0.5\n vertex -2.01028 -19.7624 0.5\n vertex -2.51128 -19.8461 0\n endloop\n endfacet\n facet normal 0.642414 0.289059 -0.709752\n outer loop\n vertex -2.01028 -19.7624 0.5\n vertex -1.90373 -19.9992 0.5\n vertex -2.40507 -20.1127 0\n endloop\n endfacet\n facet normal 0.602702 0.364498 -0.709853\n outer loop\n vertex -1.90373 -19.9992 0.5\n vertex -1.76941 -20.2213 0.5\n vertex -2.27067 -20.3662 0\n endloop\n endfacet\n facet normal 0.554627 0.434449 -0.709679\n outer loop\n vertex -1.76941 -20.2213 0.5\n vertex -1.6093 -20.4257 0.5\n vertex -2.10965 -20.6037 0\n endloop\n endfacet\n facet normal 0.498538 0.49851 -0.709188\n outer loop\n vertex -1.6093 -20.4257 0.5\n vertex -1.42571 -20.6093 0.5\n vertex -1.92389 -20.8224 0\n endloop\n endfacet\n facet normal 0.435269 0.555627 -0.708393\n outer loop\n vertex -1.42571 -20.6093 0.5\n vertex -1.22134 -20.7694 0.5\n vertex -1.71557 -21.0197 0\n endloop\n endfacet\n facet normal 0.365648 0.604928 -0.707364\n outer loop\n vertex -1.22134 -20.7694 0.5\n vertex -0.999154 -20.9037 0.5\n vertex -1.48715 -21.1934 0\n endloop\n endfacet\n facet normal 0.297295 0.64249 -0.706273\n outer loop\n vertex -0.999154 -20.9037 0.5\n vertex -0.980865 -21.4618 0\n vertex -1.24128 -21.3413 0\n endloop\n endfacet\n facet normal 0.364564 0.606054 -0.706959\n outer loop\n vertex -0.999154 -20.9037 0.5\n vertex -1.24128 -21.3413 0\n vertex -1.48715 -21.1934 0\n endloop\n endfacet\n facet normal 0.659264 0.262642 -0.704549\n outer loop\n vertex -2.01028 -19.7624 0.5\n vertex -2.40507 -20.1127 0\n vertex -2.51128 -19.8461 0\n endloop\n endfacet\n facet normal 0.627174 0.332513 -0.704335\n outer loop\n vertex -1.90373 -19.9992 0.5\n vertex -2.27067 -20.3662 0\n vertex -2.40507 -20.1127 0\n endloop\n endfacet\n facet normal 0.587499 0.398312 -0.70441\n outer loop\n vertex -1.76941 -20.2213 0.5\n vertex -2.10965 -20.6037 0\n vertex -2.27067 -20.3662 0\n endloop\n endfacet\n facet normal 0.54078 0.459329 -0.70468\n outer loop\n vertex -1.6093 -20.4257 0.5\n vertex -1.92389 -20.8224 0\n vertex -2.10965 -20.6037 0\n endloop\n endfacet\n facet normal 0.487556 0.514787 -0.705183\n outer loop\n vertex -1.42571 -20.6093 0.5\n vertex -1.71557 -21.0197 0\n vertex -1.92389 -20.8224 0\n endloop\n endfacet\n facet normal 0.428702 0.563755 -0.705971\n outer loop\n vertex -1.22134 -20.7694 0.5\n vertex -1.48715 -21.1934 0\n vertex -1.71557 -21.0197 0\n endloop\n endfacet\n facet normal 0.289907 0.643871 -0.708085\n outer loop\n vertex -0.7624 -21.0103 0.5\n vertex -0.980865 -21.4618 0\n vertex -0.999154 -20.9037 0.5\n endloop\n endfacet\n facet normal 0.226277 0.671704 -0.705416\n outer loop\n vertex -0.7624 -21.0103 0.5\n vertex -0.70895 -21.5534 0\n vertex -0.980865 -21.4618 0\n endloop\n endfacet\n facet normal 0.209713 0.673342 -0.708965\n outer loop\n vertex -0.514528 -21.0875 0.5\n vertex -0.70895 -21.5534 0\n vertex -0.7624 -21.0103 0.5\n endloop\n endfacet\n facet normal 0.127018 0.693101 -0.709562\n outer loop\n vertex -0.259153 -21.1343 0.5\n vertex -0.428721 -21.6151 0\n vertex -0.514528 -21.0875 0.5\n endloop\n endfacet\n facet normal 0.0425945 0.703088 -0.709826\n outer loop\n vertex 0 -21.15 0.5\n vertex -0.143468 -21.6461 0\n vertex -0.259153 -21.1343 0.5\n endloop\n endfacet\n facet normal -0.0425945 0.703088 -0.709826\n outer loop\n vertex 0.259153 -21.1343 0.5\n vertex 0.143468 -21.6461 0\n vertex 0 -21.15 0.5\n endloop\n endfacet\n facet normal -0.127018 0.693101 -0.709562\n outer loop\n vertex 0.514528 -21.0875 0.5\n vertex 0.428721 -21.6151 0\n vertex 0.259153 -21.1343 0.5\n endloop\n endfacet\n facet normal -0.209713 0.673342 -0.708965\n outer loop\n vertex 0.7624 -21.0103 0.5\n vertex 0.70895 -21.5534 0\n vertex 0.514528 -21.0875 0.5\n endloop\n endfacet\n facet normal -0.289907 0.643871 -0.708085\n outer loop\n vertex 0.999154 -20.9037 0.5\n vertex 0.980865 -21.4618 0\n vertex 0.7624 -21.0103 0.5\n endloop\n endfacet\n facet normal -0.364564 0.606054 -0.706959\n outer loop\n vertex 1.48715 -21.1934 0\n vertex 1.24128 -21.3413 0\n vertex 0.999154 -20.9037 0.5\n endloop\n endfacet\n facet normal -0.297295 0.64249 -0.706273\n outer loop\n vertex 0.999154 -20.9037 0.5\n vertex 1.24128 -21.3413 0\n vertex 0.980865 -21.4618 0\n endloop\n endfacet\n facet normal 0.152533 0.692774 -0.704839\n outer loop\n vertex -0.514528 -21.0875 0.5\n vertex -0.428721 -21.6151 0\n vertex -0.70895 -21.5534 0\n endloop\n endfacet\n facet normal 0.0766781 0.70557 -0.70448\n outer loop\n vertex -0.259153 -21.1343 0.5\n vertex -0.143468 -21.6461 0\n vertex -0.428721 -21.6151 0\n endloop\n endfacet\n facet normal 0 0.70987 -0.704333\n outer loop\n vertex 0 -21.15 0.5\n vertex 0.143468 -21.6461 0\n vertex -0.143468 -21.6461 0\n endloop\n endfacet\n facet normal -0.0766781 0.70557 -0.70448\n outer loop\n vertex 0.259153 -21.1343 0.5\n vertex 0.428721 -21.6151 0\n vertex 0.143468 -21.6461 0\n endloop\n endfacet\n facet normal -0.152533 0.692774 -0.704839\n outer loop\n vertex 0.514528 -21.0875 0.5\n vertex 0.70895 -21.5534 0\n vertex 0.428721 -21.6151 0\n endloop\n endfacet\n facet normal -0.226277 0.671704 -0.705416\n outer loop\n vertex 0.7624 -21.0103 0.5\n vertex 0.980865 -21.4618 0\n vertex 0.70895 -21.5534 0\n endloop\n endfacet\n facet normal -0.365648 0.604928 -0.707364\n outer loop\n vertex 1.22134 -20.7694 0.5\n vertex 1.48715 -21.1934 0\n vertex 0.999154 -20.9037 0.5\n endloop\n endfacet\n facet normal -0.428702 0.563755 -0.705971\n outer loop\n vertex 1.71557 -21.0197 0\n vertex 1.48715 -21.1934 0\n vertex 1.22134 -20.7694 0.5\n endloop\n endfacet\n facet normal -0.435269 0.555627 -0.708393\n outer loop\n vertex 1.42571 -20.6093 0.5\n vertex 1.71557 -21.0197 0\n vertex 1.22134 -20.7694 0.5\n endloop\n endfacet\n facet normal -0.498538 0.49851 -0.709188\n outer loop\n vertex 1.6093 -20.4257 0.5\n vertex 1.92389 -20.8224 0\n vertex 1.42571 -20.6093 0.5\n endloop\n endfacet\n facet normal -0.554627 0.434449 -0.709679\n outer loop\n vertex 1.76941 -20.2213 0.5\n vertex 2.10965 -20.6037 0\n vertex 1.6093 -20.4257 0.5\n endloop\n endfacet\n facet normal -0.602702 0.364498 -0.709853\n outer loop\n vertex 1.90373 -19.9992 0.5\n vertex 2.27067 -20.3662 0\n vertex 1.76941 -20.2213 0.5\n endloop\n endfacet\n facet normal -0.642414 0.289059 -0.709752\n outer loop\n vertex 2.01028 -19.7624 0.5\n vertex 2.40507 -20.1127 0\n vertex 1.90373 -19.9992 0.5\n endloop\n endfacet\n facet normal -0.672927 0.209669 -0.709372\n outer loop\n vertex 2.08752 -19.5145 0.5\n vertex 2.51128 -19.8461 0\n vertex 2.01028 -19.7624 0.5\n endloop\n endfacet\n facet normal -0.693941 0.127209 -0.708706\n outer loop\n vertex 2.13432 -19.2592 0.5\n vertex 2.58804 -19.5697 0\n vertex 2.08752 -19.5145 0.5\n endloop\n endfacet\n facet normal -0.705192 0.0426597 -0.707732\n outer loop\n vertex 2.15 -19 0.5\n vertex 2.63447 -19.2865 0\n vertex 2.13432 -19.2592 0.5\n endloop\n endfacet\n facet normal -0.706588 -0.0383013 -0.706588\n outer loop\n vertex 2.63447 -18.7135 0\n vertex 2.65 -19 0\n vertex 2.15 -19 0.5\n endloop\n endfacet\n facet normal -0.706588 0.0383013 -0.706588\n outer loop\n vertex 2.65 -19 0\n vertex 2.63447 -19.2865 0\n vertex 2.15 -19 0.5\n endloop\n endfacet\n facet normal -0.487556 0.514787 -0.705183\n outer loop\n vertex 1.92389 -20.8224 0\n vertex 1.71557 -21.0197 0\n vertex 1.42571 -20.6093 0.5\n endloop\n endfacet\n facet normal -0.54078 0.459329 -0.70468\n outer loop\n vertex 2.10965 -20.6037 0\n vertex 1.92389 -20.8224 0\n vertex 1.6093 -20.4257 0.5\n endloop\n endfacet\n facet normal -0.587499 0.398312 -0.70441\n outer loop\n vertex 2.27067 -20.3662 0\n vertex 2.10965 -20.6037 0\n vertex 1.76941 -20.2213 0.5\n endloop\n endfacet\n facet normal -0.627174 0.332513 -0.704335\n outer loop\n vertex 2.40507 -20.1127 0\n vertex 2.27067 -20.3662 0\n vertex 1.90373 -19.9992 0.5\n endloop\n endfacet\n facet normal -0.659264 0.262642 -0.704549\n outer loop\n vertex 2.51128 -19.8461 0\n vertex 2.40507 -20.1127 0\n vertex 2.01028 -19.7624 0.5\n endloop\n endfacet\n facet normal -0.683342 0.189773 -0.705004\n outer loop\n vertex 2.58804 -19.5697 0\n vertex 2.51128 -19.8461 0\n vertex 2.08752 -19.5145 0.5\n endloop\n endfacet\n facet normal -0.699204 0.114633 -0.705672\n outer loop\n vertex 2.63447 -19.2865 0\n vertex 2.58804 -19.5697 0\n vertex 2.13432 -19.2592 0.5\n endloop\n endfacet\n facet normal -0.705192 -0.0426597 -0.707732\n outer loop\n vertex 2.63447 -18.7135 0\n vertex 2.15 -19 0.5\n vertex 2.13432 -18.7408 0.5\n endloop\n endfacet\n facet normal -0.699204 -0.114633 -0.705672\n outer loop\n vertex 2.58804 -18.4303 0\n vertex 2.63447 -18.7135 0\n vertex 2.13432 -18.7408 0.5\n endloop\n endfacet\n facet normal -0.693941 -0.127209 -0.708706\n outer loop\n vertex 2.58804 -18.4303 0\n vertex 2.13432 -18.7408 0.5\n vertex 2.08752 -18.4855 0.5\n endloop\n endfacet\n facet normal -0.672927 -0.209669 -0.709372\n outer loop\n vertex 2.51128 -18.1539 0\n vertex 2.08752 -18.4855 0.5\n vertex 2.01028 -18.2376 0.5\n endloop\n endfacet\n facet normal -0.642414 -0.289059 -0.709752\n outer loop\n vertex 2.40507 -17.8873 0\n vertex 2.01028 -18.2376 0.5\n vertex 1.90373 -18.0008 0.5\n endloop\n endfacet\n facet normal -0.602702 -0.364498 -0.709853\n outer loop\n vertex 2.27067 -17.6338 0\n vertex 1.90373 -18.0008 0.5\n vertex 1.76941 -17.7787 0.5\n endloop\n endfacet\n facet normal -0.554627 -0.434449 -0.709679\n outer loop\n vertex 2.10965 -17.3963 0\n vertex 1.76941 -17.7787 0.5\n vertex 1.6093 -17.5743 0.5\n endloop\n endfacet\n facet normal -0.498538 -0.49851 -0.709188\n outer loop\n vertex 1.92389 -17.1776 0\n vertex 1.6093 -17.5743 0.5\n vertex 1.42571 -17.3907 0.5\n endloop\n endfacet\n facet normal -0.435269 -0.555627 -0.708393\n outer loop\n vertex 1.71557 -16.9803 0\n vertex 1.42571 -17.3907 0.5\n vertex 1.22134 -17.2306 0.5\n endloop\n endfacet\n facet normal -0.365648 -0.604928 -0.707364\n outer loop\n vertex 1.48715 -16.8066 0\n vertex 1.22134 -17.2306 0.5\n vertex 0.999154 -17.0963 0.5\n endloop\n endfacet\n facet normal -0.297295 -0.64249 -0.706273\n outer loop\n vertex 1.24128 -16.6587 0\n vertex 0.999154 -17.0963 0.5\n vertex 0.980865 -16.5382 0\n endloop\n endfacet\n facet normal -0.364564 -0.606054 -0.706959\n outer loop\n vertex 1.24128 -16.6587 0\n vertex 1.48715 -16.8066 0\n vertex 0.999154 -17.0963 0.5\n endloop\n endfacet\n facet normal -0.683342 -0.189773 -0.705004\n outer loop\n vertex 2.51128 -18.1539 0\n vertex 2.58804 -18.4303 0\n vertex 2.08752 -18.4855 0.5\n endloop\n endfacet\n facet normal -0.659264 -0.262642 -0.704549\n outer loop\n vertex 2.40507 -17.8873 0\n vertex 2.51128 -18.1539 0\n vertex 2.01028 -18.2376 0.5\n endloop\n endfacet\n facet normal -0.627174 -0.332513 -0.704335\n outer loop\n vertex 2.27067 -17.6338 0\n vertex 2.40507 -17.8873 0\n vertex 1.90373 -18.0008 0.5\n endloop\n endfacet\n facet normal -0.587499 -0.398312 -0.70441\n outer loop\n vertex 2.10965 -17.3963 0\n vertex 2.27067 -17.6338 0\n vertex 1.76941 -17.7787 0.5\n endloop\n endfacet\n facet normal -0.54078 -0.459329 -0.70468\n outer loop\n vertex 1.92389 -17.1776 0\n vertex 2.10965 -17.3963 0\n vertex 1.6093 -17.5743 0.5\n endloop\n endfacet\n facet normal -0.487556 -0.514787 -0.705183\n outer loop\n vertex 1.71557 -16.9803 0\n vertex 1.92389 -17.1776 0\n vertex 1.42571 -17.3907 0.5\n endloop\n endfacet\n facet normal -0.428702 -0.563755 -0.705971\n outer loop\n vertex 1.48715 -16.8066 0\n vertex 1.71557 -16.9803 0\n vertex 1.22134 -17.2306 0.5\n endloop\n endfacet\n facet normal -0.289907 -0.643871 -0.708085\n outer loop\n vertex 0.980865 -16.5382 0\n vertex 0.999154 -17.0963 0.5\n vertex 0.7624 -16.9897 0.5\n endloop\n endfacet\n facet normal -0.226277 -0.671704 -0.705416\n outer loop\n vertex 0.980865 -16.5382 0\n vertex 0.7624 -16.9897 0.5\n vertex 0.70895 -16.4466 0\n endloop\n endfacet\n facet normal -0.209713 -0.673342 -0.708965\n outer loop\n vertex 0.70895 -16.4466 0\n vertex 0.7624 -16.9897 0.5\n vertex 0.514528 -16.9125 0.5\n endloop\n endfacet\n facet normal -0.127018 -0.693101 -0.709562\n outer loop\n vertex 0.428721 -16.3849 0\n vertex 0.514528 -16.9125 0.5\n vertex 0.259153 -16.8657 0.5\n endloop\n endfacet\n facet normal -0.0425945 -0.703088 -0.709826\n outer loop\n vertex 0.143468 -16.3539 0\n vertex 0.259153 -16.8657 0.5\n vertex 0 -16.85 0.5\n endloop\n endfacet\n facet normal 0.0425945 -0.703088 -0.709826\n outer loop\n vertex -0.143468 -16.3539 0\n vertex 0 -16.85 0.5\n vertex -0.259153 -16.8657 0.5\n endloop\n endfacet\n facet normal 0.127018 -0.693101 -0.709562\n outer loop\n vertex -0.428721 -16.3849 0\n vertex -0.259153 -16.8657 0.5\n vertex -0.514528 -16.9125 0.5\n endloop\n endfacet\n facet normal 0.209713 -0.673342 -0.708965\n outer loop\n vertex -0.70895 -16.4466 0\n vertex -0.514528 -16.9125 0.5\n vertex -0.7624 -16.9897 0.5\n endloop\n endfacet\n facet normal 0.289907 -0.643871 -0.708085\n outer loop\n vertex -0.980865 -16.5382 0\n vertex -0.7624 -16.9897 0.5\n vertex -0.999154 -17.0963 0.5\n endloop\n endfacet\n facet normal 0.364564 -0.606054 -0.706959\n outer loop\n vertex -1.24128 -16.6587 0\n vertex -0.999154 -17.0963 0.5\n vertex -1.48715 -16.8066 0\n endloop\n endfacet\n facet normal 0.297295 -0.64249 -0.706273\n outer loop\n vertex -0.980865 -16.5382 0\n vertex -0.999154 -17.0963 0.5\n vertex -1.24128 -16.6587 0\n endloop\n endfacet\n facet normal -0.152533 -0.692774 -0.704839\n outer loop\n vertex 0.70895 -16.4466 0\n vertex 0.514528 -16.9125 0.5\n vertex 0.428721 -16.3849 0\n endloop\n endfacet\n facet normal -0.0766781 -0.70557 -0.70448\n outer loop\n vertex 0.428721 -16.3849 0\n vertex 0.259153 -16.8657 0.5\n vertex 0.143468 -16.3539 0\n endloop\n endfacet\n facet normal -0 -0.70987 -0.704333\n outer loop\n vertex 0.143468 -16.3539 0\n vertex 0 -16.85 0.5\n vertex -0.143468 -16.3539 0\n endloop\n endfacet\n facet normal 0.0766781 -0.70557 -0.70448\n outer loop\n vertex -0.143468 -16.3539 0\n vertex -0.259153 -16.8657 0.5\n vertex -0.428721 -16.3849 0\n endloop\n endfacet\n facet normal 0.152533 -0.692774 -0.704839\n outer loop\n vertex -0.428721 -16.3849 0\n vertex -0.514528 -16.9125 0.5\n vertex -0.70895 -16.4466 0\n endloop\n endfacet\n facet normal 0.226277 -0.671704 -0.705416\n outer loop\n vertex -0.70895 -16.4466 0\n vertex -0.7624 -16.9897 0.5\n vertex -0.980865 -16.5382 0\n endloop\n endfacet\n facet normal 0.365648 -0.604928 -0.707364\n outer loop\n vertex -0.999154 -17.0963 0.5\n vertex -1.22134 -17.2306 0.5\n vertex -1.48715 -16.8066 0\n endloop\n endfacet\n facet normal 0.428702 -0.563755 -0.705971\n outer loop\n vertex -1.48715 -16.8066 0\n vertex -1.22134 -17.2306 0.5\n vertex -1.71557 -16.9803 0\n endloop\n endfacet\n facet normal 0.435269 -0.555627 -0.708393\n outer loop\n vertex -1.22134 -17.2306 0.5\n vertex -1.42571 -17.3907 0.5\n vertex -1.71557 -16.9803 0\n endloop\n endfacet\n facet normal 0.498538 -0.49851 -0.709188\n outer loop\n vertex -1.42571 -17.3907 0.5\n vertex -1.6093 -17.5743 0.5\n vertex -1.92389 -17.1776 0\n endloop\n endfacet\n facet normal 0.554627 -0.434449 -0.709679\n outer loop\n vertex -1.6093 -17.5743 0.5\n vertex -1.76941 -17.7787 0.5\n vertex -2.10965 -17.3963 0\n endloop\n endfacet\n facet normal 0.602702 -0.364498 -0.709853\n outer loop\n vertex -1.76941 -17.7787 0.5\n vertex -1.90373 -18.0008 0.5\n vertex -2.27067 -17.6338 0\n endloop\n endfacet\n facet normal 0.642414 -0.289059 -0.709752\n outer loop\n vertex -1.90373 -18.0008 0.5\n vertex -2.01028 -18.2376 0.5\n vertex -2.40507 -17.8873 0\n endloop\n endfacet\n facet normal 0.672927 -0.209669 -0.709372\n outer loop\n vertex -2.01028 -18.2376 0.5\n vertex -2.08752 -18.4855 0.5\n vertex -2.51128 -18.1539 0\n endloop\n endfacet\n facet normal 0.693941 -0.127209 -0.708706\n outer loop\n vertex -2.08752 -18.4855 0.5\n vertex -2.13432 -18.7408 0.5\n vertex -2.58804 -18.4303 0\n endloop\n endfacet\n facet normal 0.705192 -0.0426597 -0.707732\n outer loop\n vertex -2.13432 -18.7408 0.5\n vertex -2.15 -19 0.5\n vertex -2.63447 -18.7135 0\n endloop\n endfacet\n facet normal 0.706588 0.0383013 -0.706588\n outer loop\n vertex -2.15 -19 0.5\n vertex -2.63447 -19.2865 0\n vertex -2.65 -19 0\n endloop\n endfacet\n facet normal 0.706588 -0.0383013 -0.706588\n outer loop\n vertex -2.63447 -18.7135 0\n vertex -2.15 -19 0.5\n vertex -2.65 -19 0\n endloop\n endfacet\n facet normal 0.487556 -0.514787 -0.705183\n outer loop\n vertex -1.71557 -16.9803 0\n vertex -1.42571 -17.3907 0.5\n vertex -1.92389 -17.1776 0\n endloop\n endfacet\n facet normal 0.54078 -0.459329 -0.70468\n outer loop\n vertex -1.92389 -17.1776 0\n vertex -1.6093 -17.5743 0.5\n vertex -2.10965 -17.3963 0\n endloop\n endfacet\n facet normal 0.587499 -0.398312 -0.70441\n outer loop\n vertex -2.10965 -17.3963 0\n vertex -1.76941 -17.7787 0.5\n vertex -2.27067 -17.6338 0\n endloop\n endfacet\n facet normal 0.627174 -0.332513 -0.704335\n outer loop\n vertex -2.27067 -17.6338 0\n vertex -1.90373 -18.0008 0.5\n vertex -2.40507 -17.8873 0\n endloop\n endfacet\n facet normal 0.659264 -0.262642 -0.704549\n outer loop\n vertex -2.40507 -17.8873 0\n vertex -2.01028 -18.2376 0.5\n vertex -2.51128 -18.1539 0\n endloop\n endfacet\n facet normal 0.683342 -0.189773 -0.705004\n outer loop\n vertex -2.51128 -18.1539 0\n vertex -2.08752 -18.4855 0.5\n vertex -2.58804 -18.4303 0\n endloop\n endfacet\n facet normal 0.699204 -0.114633 -0.705672\n outer loop\n vertex -2.58804 -18.4303 0\n vertex -2.13432 -18.7408 0.5\n vertex -2.63447 -18.7135 0\n endloop\n endfacet\n facet normal 0.705153 0.0427118 -0.707767\n outer loop\n vertex -17.15 -19 0.5\n vertex -17.1343 -19.2592 0.5\n vertex -17.6345 -19.2865 0\n endloop\n endfacet\n facet normal 0.699151 0.114797 -0.705698\n outer loop\n vertex -17.1343 -19.2592 0.5\n vertex -17.588 -19.5697 0\n vertex -17.6345 -19.2865 0\n endloop\n endfacet\n facet normal 0.693954 0.127211 -0.708692\n outer loop\n vertex -17.1343 -19.2592 0.5\n vertex -17.0875 -19.5145 0.5\n vertex -17.588 -19.5697 0\n endloop\n endfacet\n facet normal 0.683382 0.189636 -0.705001\n outer loop\n vertex -17.0875 -19.5145 0.5\n vertex -17.5113 -19.8461 0\n vertex -17.588 -19.5697 0\n endloop\n endfacet\n facet normal 0.672951 0.209568 -0.709379\n outer loop\n vertex -17.0875 -19.5145 0.5\n vertex -17.0103 -19.7624 0.5\n vertex -17.5113 -19.8461 0\n endloop\n endfacet\n facet normal 0.64234 0.289161 -0.709778\n outer loop\n vertex -17.0103 -19.7624 0.5\n vertex -16.9037 -19.9992 0.5\n vertex -17.4051 -20.1127 0\n endloop\n endfacet\n facet normal 0.6027 0.364442 -0.709883\n outer loop\n vertex -16.9037 -19.9992 0.5\n vertex -16.7694 -20.2213 0.5\n vertex -17.2707 -20.3662 0\n endloop\n endfacet\n facet normal 0.554659 0.434447 -0.709655\n outer loop\n vertex -16.7694 -20.2213 0.5\n vertex -16.6093 -20.4257 0.5\n vertex -17.1096 -20.6037 0\n endloop\n endfacet\n facet normal 0.49852 0.49852 -0.709194\n outer loop\n vertex -16.6093 -20.4257 0.5\n vertex -16.4257 -20.6093 0.5\n vertex -16.9239 -20.8224 0\n endloop\n endfacet\n facet normal 0.435218 0.555643 -0.708411\n outer loop\n vertex -16.4257 -20.6093 0.5\n vertex -16.2213 -20.7694 0.5\n vertex -16.7156 -21.0197 0\n endloop\n endfacet\n facet normal 0.365753 0.604867 -0.707362\n outer loop\n vertex -16.2213 -20.7694 0.5\n vertex -15.9992 -20.9037 0.5\n vertex -16.4871 -21.1934 0\n endloop\n endfacet\n facet normal 0.297312 0.64249 -0.706266\n outer loop\n vertex -15.9992 -20.9037 0.5\n vertex -15.9809 -21.4618 0\n vertex -16.2413 -21.3413 0\n endloop\n endfacet\n facet normal 0.364646 0.606018 -0.706948\n outer loop\n vertex -15.9992 -20.9037 0.5\n vertex -16.2413 -21.3413 0\n vertex -16.4871 -21.1934 0\n endloop\n endfacet\n facet normal 0.659271 0.26262 -0.704552\n outer loop\n vertex -17.0103 -19.7624 0.5\n vertex -17.4051 -20.1127 0\n vertex -17.5113 -19.8461 0\n endloop\n endfacet\n facet normal 0.62714 0.332496 -0.704373\n outer loop\n vertex -16.9037 -19.9992 0.5\n vertex -17.2707 -20.3662 0\n vertex -17.4051 -20.1127 0\n endloop\n endfacet\n facet normal 0.587409 0.398449 -0.704407\n outer loop\n vertex -16.7694 -20.2213 0.5\n vertex -17.1096 -20.6037 0\n vertex -17.2707 -20.3662 0\n endloop\n endfacet\n facet normal 0.540858 0.459247 -0.704674\n outer loop\n vertex -16.6093 -20.4257 0.5\n vertex -16.9239 -20.8224 0\n vertex -17.1096 -20.6037 0\n endloop\n endfacet\n facet normal 0.487568 0.514752 -0.7052\n outer loop\n vertex -16.4257 -20.6093 0.5\n vertex -16.7156 -21.0197 0\n vertex -16.9239 -20.8224 0\n endloop\n endfacet\n facet normal 0.428607 0.563826 -0.705972\n outer loop\n vertex -16.2213 -20.7694 0.5\n vertex -16.4871 -21.1934 0\n vertex -16.7156 -21.0197 0\n endloop\n endfacet\n facet normal 0.289856 0.643884 -0.708094\n outer loop\n vertex -15.7624 -21.0103 0.5\n vertex -15.9809 -21.4618 0\n vertex -15.9992 -20.9037 0.5\n endloop\n endfacet\n facet normal 0.226285 0.671692 -0.705425\n outer loop\n vertex -15.7624 -21.0103 0.5\n vertex -15.709 -21.5534 0\n vertex -15.9809 -21.4618 0\n endloop\n endfacet\n facet normal 0.209687 0.673334 -0.70898\n outer loop\n vertex -15.5145 -21.0875 0.5\n vertex -15.709 -21.5534 0\n vertex -15.7624 -21.0103 0.5\n endloop\n endfacet\n facet normal 0.127055 0.6931 -0.709556\n outer loop\n vertex -15.2592 -21.1343 0.5\n vertex -15.4287 -21.6151 0\n vertex -15.5145 -21.0875 0.5\n endloop\n endfacet\n facet normal 0.0425867 0.703088 -0.709826\n outer loop\n vertex -15 -21.15 0.5\n vertex -15.1435 -21.6461 0\n vertex -15.2592 -21.1343 0.5\n endloop\n endfacet\n facet normal -0.0425867 0.703088 -0.709826\n outer loop\n vertex -14.7408 -21.1343 0.5\n vertex -14.8565 -21.6461 0\n vertex -15 -21.15 0.5\n endloop\n endfacet\n facet normal -0.127055 0.6931 -0.709556\n outer loop\n vertex -14.4855 -21.0875 0.5\n vertex -14.5713 -21.6151 0\n vertex -14.7408 -21.1343 0.5\n endloop\n endfacet\n facet normal -0.209687 0.673334 -0.70898\n outer loop\n vertex -14.2376 -21.0103 0.5\n vertex -14.291 -21.5534 0\n vertex -14.4855 -21.0875 0.5\n endloop\n endfacet\n facet normal -0.289856 0.643884 -0.708094\n outer loop\n vertex -14.0008 -20.9037 0.5\n vertex -14.0191 -21.4618 0\n vertex -14.2376 -21.0103 0.5\n endloop\n endfacet\n facet normal -0.364646 0.606018 -0.706948\n outer loop\n vertex -13.5129 -21.1934 0\n vertex -13.7587 -21.3413 0\n vertex -14.0008 -20.9037 0.5\n endloop\n endfacet\n facet normal -0.297312 0.64249 -0.706266\n outer loop\n vertex -14.0008 -20.9037 0.5\n vertex -13.7587 -21.3413 0\n vertex -14.0191 -21.4618 0\n endloop\n endfacet\n facet normal 0.152494 0.692774 -0.704847\n outer loop\n vertex -15.5145 -21.0875 0.5\n vertex -15.4287 -21.6151 0\n vertex -15.709 -21.5534 0\n endloop\n endfacet\n facet normal 0.0766926 0.705572 -0.704476\n outer loop\n vertex -15.2592 -21.1343 0.5\n vertex -15.1435 -21.6461 0\n vertex -15.4287 -21.6151 0\n endloop\n endfacet\n facet normal 0 0.70987 -0.704333\n outer loop\n vertex -15 -21.15 0.5\n vertex -14.8565 -21.6461 0\n vertex -15.1435 -21.6461 0\n endloop\n endfacet\n facet normal -0.0766926 0.705572 -0.704476\n outer loop\n vertex -14.7408 -21.1343 0.5\n vertex -14.5713 -21.6151 0\n vertex -14.8565 -21.6461 0\n endloop\n endfacet\n facet normal -0.152494 0.692774 -0.704847\n outer loop\n vertex -14.4855 -21.0875 0.5\n vertex -14.291 -21.5534 0\n vertex -14.5713 -21.6151 0\n endloop\n endfacet\n facet normal -0.226285 0.671692 -0.705425\n outer loop\n vertex -14.2376 -21.0103 0.5\n vertex -14.0191 -21.4618 0\n vertex -14.291 -21.5534 0\n endloop\n endfacet\n facet normal -0.365753 0.604867 -0.707362\n outer loop\n vertex -13.7787 -20.7694 0.5\n vertex -13.5129 -21.1934 0\n vertex -14.0008 -20.9037 0.5\n endloop\n endfacet\n facet normal -0.428607 0.563826 -0.705972\n outer loop\n vertex -13.2844 -21.0197 0\n vertex -13.5129 -21.1934 0\n vertex -13.7787 -20.7694 0.5\n endloop\n endfacet\n facet normal -0.435218 0.555643 -0.708411\n outer loop\n vertex -13.5743 -20.6093 0.5\n vertex -13.2844 -21.0197 0\n vertex -13.7787 -20.7694 0.5\n endloop\n endfacet\n facet normal -0.49852 0.49852 -0.709194\n outer loop\n vertex -13.3907 -20.4257 0.5\n vertex -13.0761 -20.8224 0\n vertex -13.5743 -20.6093 0.5\n endloop\n endfacet\n facet normal -0.554659 0.434447 -0.709655\n outer loop\n vertex -13.2306 -20.2213 0.5\n vertex -12.8904 -20.6037 0\n vertex -13.3907 -20.4257 0.5\n endloop\n endfacet\n facet normal -0.6027 0.364442 -0.709883\n outer loop\n vertex -13.0963 -19.9992 0.5\n vertex -12.7293 -20.3662 0\n vertex -13.2306 -20.2213 0.5\n endloop\n endfacet\n facet normal -0.64234 0.289161 -0.709778\n outer loop\n vertex -12.9897 -19.7624 0.5\n vertex -12.5949 -20.1127 0\n vertex -13.0963 -19.9992 0.5\n endloop\n endfacet\n facet normal -0.672951 0.209568 -0.709379\n outer loop\n vertex -12.9125 -19.5145 0.5\n vertex -12.4887 -19.8461 0\n vertex -12.9897 -19.7624 0.5\n endloop\n endfacet\n facet normal -0.693954 0.127211 -0.708692\n outer loop\n vertex -12.8657 -19.2592 0.5\n vertex -12.412 -19.5697 0\n vertex -12.9125 -19.5145 0.5\n endloop\n endfacet\n facet normal -0.705153 0.0427118 -0.707767\n outer loop\n vertex -12.85 -19 0.5\n vertex -12.3655 -19.2865 0\n vertex -12.8657 -19.2592 0.5\n endloop\n endfacet\n facet normal -0.70659 -0.0382274 -0.70659\n outer loop\n vertex -12.3655 -18.7135 0\n vertex -12.35 -19 0\n vertex -12.85 -19 0.5\n endloop\n endfacet\n facet normal -0.70659 0.0382274 -0.70659\n outer loop\n vertex -12.35 -19 0\n vertex -12.3655 -19.2865 0\n vertex -12.85 -19 0.5\n endloop\n endfacet\n facet normal -0.487568 0.514752 -0.7052\n outer loop\n vertex -13.0761 -20.8224 0\n vertex -13.2844 -21.0197 0\n vertex -13.5743 -20.6093 0.5\n endloop\n endfacet\n facet normal -0.540858 0.459247 -0.704674\n outer loop\n vertex -12.8904 -20.6037 0\n vertex -13.0761 -20.8224 0\n vertex -13.3907 -20.4257 0.5\n endloop\n endfacet\n facet normal -0.587409 0.398449 -0.704407\n outer loop\n vertex -12.7293 -20.3662 0\n vertex -12.8904 -20.6037 0\n vertex -13.2306 -20.2213 0.5\n endloop\n endfacet\n facet normal -0.62714 0.332496 -0.704373\n outer loop\n vertex -12.5949 -20.1127 0\n vertex -12.7293 -20.3662 0\n vertex -13.0963 -19.9992 0.5\n endloop\n endfacet\n facet normal -0.659271 0.26262 -0.704552\n outer loop\n vertex -12.4887 -19.8461 0\n vertex -12.5949 -20.1127 0\n vertex -12.9897 -19.7624 0.5\n endloop\n endfacet\n facet normal -0.683382 0.189636 -0.705001\n outer loop\n vertex -12.412 -19.5697 0\n vertex -12.4887 -19.8461 0\n vertex -12.9125 -19.5145 0.5\n endloop\n endfacet\n facet normal -0.699151 0.114797 -0.705698\n outer loop\n vertex -12.3655 -19.2865 0\n vertex -12.412 -19.5697 0\n vertex -12.8657 -19.2592 0.5\n endloop\n endfacet\n facet normal -0.705153 -0.0427118 -0.707767\n outer loop\n vertex -12.3655 -18.7135 0\n vertex -12.85 -19 0.5\n vertex -12.8657 -18.7408 0.5\n endloop\n endfacet\n facet normal -0.699151 -0.114797 -0.705698\n outer loop\n vertex -12.412 -18.4303 0\n vertex -12.3655 -18.7135 0\n vertex -12.8657 -18.7408 0.5\n endloop\n endfacet\n facet normal -0.693954 -0.127211 -0.708692\n outer loop\n vertex -12.412 -18.4303 0\n vertex -12.8657 -18.7408 0.5\n vertex -12.9125 -18.4855 0.5\n endloop\n endfacet\n facet normal -0.672951 -0.209568 -0.709379\n outer loop\n vertex -12.4887 -18.1539 0\n vertex -12.9125 -18.4855 0.5\n vertex -12.9897 -18.2376 0.5\n endloop\n endfacet\n facet normal -0.64234 -0.289161 -0.709778\n outer loop\n vertex -12.5949 -17.8873 0\n vertex -12.9897 -18.2376 0.5\n vertex -13.0963 -18.0008 0.5\n endloop\n endfacet\n facet normal -0.6027 -0.364442 -0.709883\n outer loop\n vertex -12.7293 -17.6338 0\n vertex -13.0963 -18.0008 0.5\n vertex -13.2306 -17.7787 0.5\n endloop\n endfacet\n facet normal -0.554659 -0.434447 -0.709655\n outer loop\n vertex -12.8904 -17.3963 0\n vertex -13.2306 -17.7787 0.5\n vertex -13.3907 -17.5743 0.5\n endloop\n endfacet\n facet normal -0.49852 -0.49852 -0.709194\n outer loop\n vertex -13.0761 -17.1776 0\n vertex -13.3907 -17.5743 0.5\n vertex -13.5743 -17.3907 0.5\n endloop\n endfacet\n facet normal -0.435218 -0.555643 -0.708411\n outer loop\n vertex -13.2844 -16.9803 0\n vertex -13.5743 -17.3907 0.5\n vertex -13.7787 -17.2306 0.5\n endloop\n endfacet\n facet normal -0.365753 -0.604867 -0.707362\n outer loop\n vertex -13.5129 -16.8066 0\n vertex -13.7787 -17.2306 0.5\n vertex -14.0008 -17.0963 0.5\n endloop\n endfacet\n facet normal -0.297312 -0.64249 -0.706266\n outer loop\n vertex -13.7587 -16.6587 0\n vertex -14.0008 -17.0963 0.5\n vertex -14.0191 -16.5382 0\n endloop\n endfacet\n facet normal -0.364646 -0.606018 -0.706948\n outer loop\n vertex -13.7587 -16.6587 0\n vertex -13.5129 -16.8066 0\n vertex -14.0008 -17.0963 0.5\n endloop\n endfacet\n facet normal -0.683382 -0.189636 -0.705001\n outer loop\n vertex -12.4887 -18.1539 0\n vertex -12.412 -18.4303 0\n vertex -12.9125 -18.4855 0.5\n endloop\n endfacet\n facet normal -0.659271 -0.26262 -0.704552\n outer loop\n vertex -12.5949 -17.8873 0\n vertex -12.4887 -18.1539 0\n vertex -12.9897 -18.2376 0.5\n endloop\n endfacet\n facet normal -0.62714 -0.332496 -0.704373\n outer loop\n vertex -12.7293 -17.6338 0\n vertex -12.5949 -17.8873 0\n vertex -13.0963 -18.0008 0.5\n endloop\n endfacet\n facet normal -0.587409 -0.398449 -0.704407\n outer loop\n vertex -12.8904 -17.3963 0\n vertex -12.7293 -17.6338 0\n vertex -13.2306 -17.7787 0.5\n endloop\n endfacet\n facet normal -0.540858 -0.459247 -0.704674\n outer loop\n vertex -13.0761 -17.1776 0\n vertex -12.8904 -17.3963 0\n vertex -13.3907 -17.5743 0.5\n endloop\n endfacet\n facet normal -0.487568 -0.514752 -0.7052\n outer loop\n vertex -13.2844 -16.9803 0\n vertex -13.0761 -17.1776 0\n vertex -13.5743 -17.3907 0.5\n endloop\n endfacet\n facet normal -0.428607 -0.563826 -0.705972\n outer loop\n vertex -13.5129 -16.8066 0\n vertex -13.2844 -16.9803 0\n vertex -13.7787 -17.2306 0.5\n endloop\n endfacet\n facet normal -0.289856 -0.643884 -0.708094\n outer loop\n vertex -14.0191 -16.5382 0\n vertex -14.0008 -17.0963 0.5\n vertex -14.2376 -16.9897 0.5\n endloop\n endfacet\n facet normal -0.226285 -0.671692 -0.705425\n outer loop\n vertex -14.0191 -16.5382 0\n vertex -14.2376 -16.9897 0.5\n vertex -14.291 -16.4466 0\n endloop\n endfacet\n facet normal -0.209687 -0.673334 -0.70898\n outer loop\n vertex -14.291 -16.4466 0\n vertex -14.2376 -16.9897 0.5\n vertex -14.4855 -16.9125 0.5\n endloop\n endfacet\n facet normal -0.127055 -0.6931 -0.709556\n outer loop\n vertex -14.5713 -16.3849 0\n vertex -14.4855 -16.9125 0.5\n vertex -14.7408 -16.8657 0.5\n endloop\n endfacet\n facet normal -0.0425867 -0.703088 -0.709826\n outer loop\n vertex -14.8565 -16.3539 0\n vertex -14.7408 -16.8657 0.5\n vertex -15 -16.85 0.5\n endloop\n endfacet\n facet normal 0.0425867 -0.703088 -0.709826\n outer loop\n vertex -15.1435 -16.3539 0\n vertex -15 -16.85 0.5\n vertex -15.2592 -16.8657 0.5\n endloop\n endfacet\n facet normal 0.127055 -0.6931 -0.709556\n outer loop\n vertex -15.4287 -16.3849 0\n vertex -15.2592 -16.8657 0.5\n vertex -15.5145 -16.9125 0.5\n endloop\n endfacet\n facet normal 0.209687 -0.673334 -0.70898\n outer loop\n vertex -15.709 -16.4466 0\n vertex -15.5145 -16.9125 0.5\n vertex -15.7624 -16.9897 0.5\n endloop\n endfacet\n facet normal 0.289856 -0.643884 -0.708094\n outer loop\n vertex -15.9809 -16.5382 0\n vertex -15.7624 -16.9897 0.5\n vertex -15.9992 -17.0963 0.5\n endloop\n endfacet\n facet normal 0.364646 -0.606018 -0.706948\n outer loop\n vertex -16.2413 -16.6587 0\n vertex -15.9992 -17.0963 0.5\n vertex -16.4871 -16.8066 0\n endloop\n endfacet\n facet normal 0.297312 -0.64249 -0.706266\n outer loop\n vertex -15.9809 -16.5382 0\n vertex -15.9992 -17.0963 0.5\n vertex -16.2413 -16.6587 0\n endloop\n endfacet\n facet normal -0.152494 -0.692774 -0.704847\n outer loop\n vertex -14.291 -16.4466 0\n vertex -14.4855 -16.9125 0.5\n vertex -14.5713 -16.3849 0\n endloop\n endfacet\n facet normal -0.0766926 -0.705572 -0.704476\n outer loop\n vertex -14.5713 -16.3849 0\n vertex -14.7408 -16.8657 0.5\n vertex -14.8565 -16.3539 0\n endloop\n endfacet\n facet normal -0 -0.70987 -0.704333\n outer loop\n vertex -14.8565 -16.3539 0\n vertex -15 -16.85 0.5\n vertex -15.1435 -16.3539 0\n endloop\n endfacet\n facet normal 0.0766926 -0.705572 -0.704476\n outer loop\n vertex -15.1435 -16.3539 0\n vertex -15.2592 -16.8657 0.5\n vertex -15.4287 -16.3849 0\n endloop\n endfacet\n facet normal 0.152494 -0.692774 -0.704847\n outer loop\n vertex -15.4287 -16.3849 0\n vertex -15.5145 -16.9125 0.5\n vertex -15.709 -16.4466 0\n endloop\n endfacet\n facet normal 0.226285 -0.671692 -0.705425\n outer loop\n vertex -15.709 -16.4466 0\n vertex -15.7624 -16.9897 0.5\n vertex -15.9809 -16.5382 0\n endloop\n endfacet\n facet normal 0.365753 -0.604867 -0.707362\n outer loop\n vertex -15.9992 -17.0963 0.5\n vertex -16.2213 -17.2306 0.5\n vertex -16.4871 -16.8066 0\n endloop\n endfacet\n facet normal 0.428607 -0.563826 -0.705972\n outer loop\n vertex -16.4871 -16.8066 0\n vertex -16.2213 -17.2306 0.5\n vertex -16.7156 -16.9803 0\n endloop\n endfacet\n facet normal 0.435218 -0.555643 -0.708411\n outer loop\n vertex -16.2213 -17.2306 0.5\n vertex -16.4257 -17.3907 0.5\n vertex -16.7156 -16.9803 0\n endloop\n endfacet\n facet normal 0.49852 -0.49852 -0.709194\n outer loop\n vertex -16.4257 -17.3907 0.5\n vertex -16.6093 -17.5743 0.5\n vertex -16.9239 -17.1776 0\n endloop\n endfacet\n facet normal 0.554659 -0.434447 -0.709655\n outer loop\n vertex -16.6093 -17.5743 0.5\n vertex -16.7694 -17.7787 0.5\n vertex -17.1096 -17.3963 0\n endloop\n endfacet\n facet normal 0.6027 -0.364442 -0.709883\n outer loop\n vertex -16.7694 -17.7787 0.5\n vertex -16.9037 -18.0008 0.5\n vertex -17.2707 -17.6338 0\n endloop\n endfacet\n facet normal 0.64234 -0.289161 -0.709778\n outer loop\n vertex -16.9037 -18.0008 0.5\n vertex -17.0103 -18.2376 0.5\n vertex -17.4051 -17.8873 0\n endloop\n endfacet\n facet normal 0.672951 -0.209568 -0.709379\n outer loop\n vertex -17.0103 -18.2376 0.5\n vertex -17.0875 -18.4855 0.5\n vertex -17.5113 -18.1539 0\n endloop\n endfacet\n facet normal 0.693954 -0.127211 -0.708692\n outer loop\n vertex -17.0875 -18.4855 0.5\n vertex -17.1343 -18.7408 0.5\n vertex -17.588 -18.4303 0\n endloop\n endfacet\n facet normal 0.705153 -0.0427118 -0.707767\n outer loop\n vertex -17.1343 -18.7408 0.5\n vertex -17.15 -19 0.5\n vertex -17.6345 -18.7135 0\n endloop\n endfacet\n facet normal 0.70659 0.0382274 -0.70659\n outer loop\n vertex -17.15 -19 0.5\n vertex -17.6345 -19.2865 0\n vertex -17.65 -19 0\n endloop\n endfacet\n facet normal 0.70659 -0.0382274 -0.70659\n outer loop\n vertex -17.6345 -18.7135 0\n vertex -17.15 -19 0.5\n vertex -17.65 -19 0\n endloop\n endfacet\n facet normal 0.487568 -0.514752 -0.7052\n outer loop\n vertex -16.7156 -16.9803 0\n vertex -16.4257 -17.3907 0.5\n vertex -16.9239 -17.1776 0\n endloop\n endfacet\n facet normal 0.540858 -0.459247 -0.704674\n outer loop\n vertex -16.9239 -17.1776 0\n vertex -16.6093 -17.5743 0.5\n vertex -17.1096 -17.3963 0\n endloop\n endfacet\n facet normal 0.587409 -0.398449 -0.704407\n outer loop\n vertex -17.1096 -17.3963 0\n vertex -16.7694 -17.7787 0.5\n vertex -17.2707 -17.6338 0\n endloop\n endfacet\n facet normal 0.62714 -0.332496 -0.704373\n outer loop\n vertex -17.2707 -17.6338 0\n vertex -16.9037 -18.0008 0.5\n vertex -17.4051 -17.8873 0\n endloop\n endfacet\n facet normal 0.659271 -0.26262 -0.704552\n outer loop\n vertex -17.4051 -17.8873 0\n vertex -17.0103 -18.2376 0.5\n vertex -17.5113 -18.1539 0\n endloop\n endfacet\n facet normal 0.683382 -0.189636 -0.705001\n outer loop\n vertex -17.5113 -18.1539 0\n vertex -17.0875 -18.4855 0.5\n vertex -17.588 -18.4303 0\n endloop\n endfacet\n facet normal 0.699151 -0.114797 -0.705698\n outer loop\n vertex -17.588 -18.4303 0\n vertex -17.1343 -18.7408 0.5\n vertex -17.6345 -18.7135 0\n endloop\n endfacet\n facet normal 0.345914 0.616707 0.707118\n outer loop\n vertex -6.08292 -3.48904 10\n vertex -5.84311 -3.05025 9.5\n vertex -6.50113 -2.9523 9.73647\n endloop\n endfacet\n facet normal 0.34602 0.616747 0.707031\n outer loop\n vertex -6.08292 -3.48904 10\n vertex -6.50113 -2.9523 9.73647\n vertex -6.63493 -3.17934 10\n endloop\n endfacet\n facet normal 0.368327 0.603646 0.707069\n outer loop\n vertex -6.63493 -3.17934 10\n vertex -6.50113 -2.9523 9.73647\n vertex -6.83457 -2.89915 9.86479\n endloop\n endfacet\n facet normal 0.380966 0.607706 0.69682\n outer loop\n vertex -6.63493 -3.17934 10\n vertex -6.83457 -2.89915 9.86479\n vertex -7.17121 -2.84315 10\n endloop\n endfacet\n facet normal 0.31565 0.632987 0.706889\n outer loop\n vertex -5.51649 -3.7715 10\n vertex -5.84311 -3.05025 9.5\n vertex -6.08292 -3.48904 10\n endloop\n endfacet\n facet normal 0.315237 0.632951 0.707106\n outer loop\n vertex -5.51649 -3.7715 10\n vertex -5.29892 -3.32128 9.5\n vertex -5.84311 -3.05025 9.5\n endloop\n endfacet\n facet normal 0.28447 0.647589 0.706899\n outer loop\n vertex -4.93699 -4.02606 10\n vertex -5.29892 -3.32128 9.5\n vertex -5.51649 -3.7715 10\n endloop\n endfacet\n facet normal 0.252603 0.660656 0.706913\n outer loop\n vertex -4.34578 -4.25211 10\n vertex -4.7422 -3.56553 9.5\n vertex -4.93699 -4.02606 10\n endloop\n endfacet\n facet normal 0.220138 0.672159 0.706924\n outer loop\n vertex -3.74427 -4.44911 10\n vertex -4.17427 -3.78242 9.5\n vertex -4.34578 -4.25211 10\n endloop\n endfacet\n facet normal 0.18717 0.682069 0.706929\n outer loop\n vertex -3.13388 -4.61661 10\n vertex -3.59645 -3.97145 9.5\n vertex -3.74427 -4.44911 10\n endloop\n endfacet\n facet normal 0.153735 0.690356 0.706947\n outer loop\n vertex -2.51607 -4.75419 10\n vertex -3.01014 -4.13215 9.5\n vertex -3.13388 -4.61661 10\n endloop\n endfacet\n facet normal 0.119953 0.697013 0.706954\n outer loop\n vertex -1.89229 -4.86154 10\n vertex -2.4167 -4.26416 9.5\n vertex -2.51607 -4.75419 10\n endloop\n endfacet\n facet normal 0.0858817 0.702016 0.706964\n outer loop\n vertex -1.26402 -4.9384 10\n vertex -1.81754 -4.36716 9.5\n vertex -1.89229 -4.86154 10\n endloop\n endfacet\n facet normal 0.0516114 0.70535 0.706977\n outer loop\n vertex -0.632761 -4.98459 10\n vertex -1.21409 -4.4409 9.5\n vertex -1.26402 -4.9384 10\n endloop\n endfacet\n facet normal 0.0172184 0.707017 0.706987\n outer loop\n vertex 0 -5 10\n vertex -0.607763 -4.48522 9.5\n vertex -0.632761 -4.98459 10\n endloop\n endfacet\n facet normal -0.0171934 0.707002 0.707002\n outer loop\n vertex 0.607763 -4.48522 9.5\n vertex 0 -4.5 9.5\n vertex 0 -5 10\n endloop\n endfacet\n facet normal 0.0171934 0.707002 0.707002\n outer loop\n vertex 0 -5 10\n vertex 0 -4.5 9.5\n vertex -0.607763 -4.48522 9.5\n endloop\n endfacet\n facet normal 0.284094 0.647537 0.707097\n outer loop\n vertex -4.93699 -4.02606 10\n vertex -4.7422 -3.56553 9.5\n vertex -5.29892 -3.32128 9.5\n endloop\n endfacet\n facet normal 0.252278 0.660595 0.707086\n outer loop\n vertex -4.34578 -4.25211 10\n vertex -4.17427 -3.78242 9.5\n vertex -4.7422 -3.56553 9.5\n endloop\n endfacet\n facet normal 0.219871 0.672095 0.707068\n outer loop\n vertex -3.74427 -4.44911 10\n vertex -3.59645 -3.97145 9.5\n vertex -4.17427 -3.78242 9.5\n endloop\n endfacet\n facet normal 0.186927 0.681998 0.707062\n outer loop\n vertex -3.13388 -4.61661 10\n vertex -3.01014 -4.13215 9.5\n vertex -3.59645 -3.97145 9.5\n endloop\n endfacet\n facet normal 0.153555 0.690294 0.707047\n outer loop\n vertex -2.51607 -4.75419 10\n vertex -2.4167 -4.26416 9.5\n vertex -3.01014 -4.13215 9.5\n endloop\n endfacet\n facet normal 0.119812 0.696956 0.707034\n outer loop\n vertex -1.89229 -4.86154 10\n vertex -1.81754 -4.36716 9.5\n vertex -2.4167 -4.26416 9.5\n endloop\n endfacet\n facet normal 0.0857786 0.701968 0.707024\n outer loop\n vertex -1.26402 -4.9384 10\n vertex -1.21409 -4.4409 9.5\n vertex -1.81754 -4.36716 9.5\n endloop\n endfacet\n facet normal 0.0515561 0.705321 0.70701\n outer loop\n vertex -0.632761 -4.98459 10\n vertex -0.607763 -4.48522 9.5\n vertex -1.21409 -4.4409 9.5\n endloop\n endfacet\n facet normal -0.0172184 0.707017 0.706987\n outer loop\n vertex 0.632761 -4.98459 10\n vertex 0.607763 -4.48522 9.5\n vertex 0 -5 10\n endloop\n endfacet\n facet normal -0.0515561 0.705321 0.70701\n outer loop\n vertex 0.632761 -4.98459 10\n vertex 1.21409 -4.4409 9.5\n vertex 0.607763 -4.48522 9.5\n endloop\n endfacet\n facet normal -0.0516114 0.70535 0.706977\n outer loop\n vertex 1.26402 -4.9384 10\n vertex 1.21409 -4.4409 9.5\n vertex 0.632761 -4.98459 10\n endloop\n endfacet\n facet normal -0.0858817 0.702016 0.706964\n outer loop\n vertex 1.89229 -4.86154 10\n vertex 1.81754 -4.36716 9.5\n vertex 1.26402 -4.9384 10\n endloop\n endfacet\n facet normal -0.119953 0.697013 0.706954\n outer loop\n vertex 2.51607 -4.75419 10\n vertex 2.4167 -4.26416 9.5\n vertex 1.89229 -4.86154 10\n endloop\n endfacet\n facet normal -0.153735 0.690356 0.706947\n outer loop\n vertex 3.13388 -4.61661 10\n vertex 3.01014 -4.13215 9.5\n vertex 2.51607 -4.75419 10\n endloop\n endfacet\n facet normal -0.18717 0.682069 0.706929\n outer loop\n vertex 3.74427 -4.44911 10\n vertex 3.59645 -3.97145 9.5\n vertex 3.13388 -4.61661 10\n endloop\n endfacet\n facet normal -0.220138 0.672159 0.706924\n outer loop\n vertex 4.34578 -4.25211 10\n vertex 4.17427 -3.78242 9.5\n vertex 3.74427 -4.44911 10\n endloop\n endfacet\n facet normal -0.252603 0.660656 0.706913\n outer loop\n vertex 4.93699 -4.02606 10\n vertex 4.7422 -3.56553 9.5\n vertex 4.34578 -4.25211 10\n endloop\n endfacet\n facet normal -0.28447 0.647589 0.706899\n outer loop\n vertex 5.51649 -3.7715 10\n vertex 5.29892 -3.32128 9.5\n vertex 4.93699 -4.02606 10\n endloop\n endfacet\n facet normal -0.31565 0.632987 0.706889\n outer loop\n vertex 6.08292 -3.48904 10\n vertex 5.84311 -3.05025 9.5\n vertex 5.51649 -3.7715 10\n endloop\n endfacet\n facet normal -0.34602 0.616747 0.707031\n outer loop\n vertex 6.63493 -3.17934 10\n vertex 6.50113 -2.9523 9.73647\n vertex 6.08292 -3.48904 10\n endloop\n endfacet\n facet normal -0.380966 0.607706 0.69682\n outer loop\n vertex 7.17121 -2.84315 10\n vertex 6.83457 -2.89915 9.86479\n vertex 6.63493 -3.17934 10\n endloop\n endfacet\n facet normal -0.368327 0.603646 0.707069\n outer loop\n vertex 6.63493 -3.17934 10\n vertex 6.83457 -2.89915 9.86479\n vertex 6.50113 -2.9523 9.73647\n endloop\n endfacet\n facet normal -0.0857786 0.701968 0.707024\n outer loop\n vertex 1.26402 -4.9384 10\n vertex 1.81754 -4.36716 9.5\n vertex 1.21409 -4.4409 9.5\n endloop\n endfacet\n facet normal -0.119812 0.696956 0.707034\n outer loop\n vertex 1.89229 -4.86154 10\n vertex 2.4167 -4.26416 9.5\n vertex 1.81754 -4.36716 9.5\n endloop\n endfacet\n facet normal -0.153555 0.690294 0.707047\n outer loop\n vertex 2.51607 -4.75419 10\n vertex 3.01014 -4.13215 9.5\n vertex 2.4167 -4.26416 9.5\n endloop\n endfacet\n facet normal -0.186927 0.681998 0.707062\n outer loop\n vertex 3.13388 -4.61661 10\n vertex 3.59645 -3.97145 9.5\n vertex 3.01014 -4.13215 9.5\n endloop\n endfacet\n facet normal -0.219871 0.672095 0.707068\n outer loop\n vertex 3.74427 -4.44911 10\n vertex 4.17427 -3.78242 9.5\n vertex 3.59645 -3.97145 9.5\n endloop\n endfacet\n facet normal -0.252278 0.660595 0.707086\n outer loop\n vertex 4.34578 -4.25211 10\n vertex 4.7422 -3.56553 9.5\n vertex 4.17427 -3.78242 9.5\n endloop\n endfacet\n facet normal -0.284094 0.647537 0.707097\n outer loop\n vertex 4.93699 -4.02606 10\n vertex 5.29892 -3.32128 9.5\n vertex 4.7422 -3.56553 9.5\n endloop\n endfacet\n facet normal -0.315237 0.632951 0.707106\n outer loop\n vertex 5.51649 -3.7715 10\n vertex 5.84311 -3.05025 9.5\n vertex 5.29892 -3.32128 9.5\n endloop\n endfacet\n facet normal -0.345914 0.616707 0.707118\n outer loop\n vertex 6.08292 -3.48904 10\n vertex 6.50113 -2.9523 9.73647\n vertex 5.84311 -3.05025 9.5\n endloop\n endfacet\n facet normal -2.94794e-07 0.92388 -0.382683\n outer loop\n vertex -29.5 -2.84315 10\n vertex -4.81243 -3.53648 8.32613\n vertex -29.5 -4.5 6\n endloop\n endfacet\n facet normal 7.67437e-07 0.923885 -0.382669\n outer loop\n vertex -5.16087 -3.38488 8.69214\n vertex -4.81243 -3.53648 8.32613\n vertex -29.5 -2.84315 10\n endloop\n endfacet\n facet normal -4.88803e-07 0.923877 -0.382689\n outer loop\n vertex -5.50453 -3.22275 9.08355\n vertex -5.16087 -3.38488 8.69214\n vertex -29.5 -2.84315 10\n endloop\n endfacet\n facet normal -3.42561e-07 0.923879 -0.382686\n outer loop\n vertex -6.50113 -2.9523 9.73647\n vertex -5.50453 -3.22275 9.08355\n vertex -29.5 -2.84315 10\n endloop\n endfacet\n facet normal -1.58587e-07 0.923884 -0.382672\n outer loop\n vertex -6.83457 -2.89915 9.86479\n vertex -6.50113 -2.9523 9.73647\n vertex -29.5 -2.84315 10\n endloop\n endfacet\n facet normal 0 0.923894 -0.38265\n outer loop\n vertex -7.17121 -2.84315 10\n vertex -6.83457 -2.89915 9.86479\n vertex -29.5 -2.84315 10\n endloop\n endfacet\n facet normal 9.64515e-07 0.923879 -0.382684\n outer loop\n vertex -5.84311 -3.05025 9.5\n vertex -5.50453 -3.22275 9.08355\n vertex -6.50113 -2.9523 9.73647\n endloop\n endfacet\n facet normal 1.10941e-06 0.923875 -0.382695\n outer loop\n vertex -4.81243 -3.53648 8.32613\n vertex -4.45955 -3.67743 7.98586\n vertex -29.5 -4.5 6\n endloop\n endfacet\n facet normal -8.9041e-07 0.923884 -0.382674\n outer loop\n vertex -4.45955 -3.67743 7.98586\n vertex -4.10255 -3.80758 7.67164\n vertex -29.5 -4.5 6\n endloop\n endfacet\n facet normal 1.07397e-06 0.923873 -0.382699\n outer loop\n vertex -4.10255 -3.80758 7.67164\n vertex -3.74176 -3.92683 7.38376\n vertex -29.5 -4.5 6\n endloop\n endfacet\n facet normal -2.06733e-07 0.923881 -0.382679\n outer loop\n vertex -3.74176 -3.92683 7.38376\n vertex -3.37751 -4.03505 7.12249\n vertex -29.5 -4.5 6\n endloop\n endfacet\n facet normal 2.82705e-08 0.923879 -0.382684\n outer loop\n vertex -3.37751 -4.03505 7.12249\n vertex -3.01014 -4.13215 6.88807\n vertex -29.5 -4.5 6\n endloop\n endfacet\n facet normal -1.65632e-07 0.923882 -0.382679\n outer loop\n vertex -3.01014 -4.13215 6.88807\n vertex -2.63998 -4.21804 6.68071\n vertex -29.5 -4.5 6\n endloop\n endfacet\n facet normal 5.06249e-07 0.923872 -0.382701\n outer loop\n vertex -2.63998 -4.21804 6.68071\n vertex -2.26739 -4.29264 6.50062\n vertex -29.5 -4.5 6\n endloop\n endfacet\n facet normal 3.31178e-07 0.923876 -0.382693\n outer loop\n vertex -2.26739 -4.29264 6.50062\n vertex -1.8927 -4.35588 6.34795\n vertex -29.5 -4.5 6\n 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6.83457 18.8992 9.86479\n vertex 6.63493 19.1793 10\n vertex 6.50113 18.9523 9.73647\n endloop\n endfacet\n facet normal -0.381088 -0.607882 0.6966\n outer loop\n vertex 6.83457 18.8992 9.86479\n vertex 7.17121 18.8431 10\n vertex 6.63493 19.1793 10\n endloop\n endfacet\n facet normal -0.315711 -0.63302 0.706833\n outer loop\n vertex 5.84311 19.0503 9.5\n vertex 6.08292 19.489 10\n vertex 5.51649 19.7715 10\n endloop\n endfacet\n facet normal -0.315214 -0.632976 0.707094\n outer loop\n vertex 5.84311 19.0503 9.5\n vertex 5.51649 19.7715 10\n vertex 5.29892 19.3213 9.5\n endloop\n endfacet\n facet normal -0.284512 -0.647583 0.706887\n outer loop\n vertex 5.29892 19.3213 9.5\n vertex 5.51649 19.7715 10\n vertex 4.93699 20.0261 10\n endloop\n endfacet\n facet normal -0.252538 -0.660632 0.706958\n outer loop\n vertex 4.7422 19.5655 9.5\n vertex 4.93699 20.0261 10\n vertex 4.34578 20.2521 10\n endloop\n endfacet\n facet normal -0.220136 -0.672152 0.706931\n outer loop\n vertex 4.17427 19.7824 9.5\n vertex 4.34578 20.2521 10\n vertex 3.74427 20.4491 10\n endloop\n endfacet\n facet normal -0.187163 -0.682043 0.706957\n outer loop\n vertex 3.59645 19.9714 9.5\n vertex 3.74427 20.4491 10\n vertex 3.13388 20.6166 10\n endloop\n endfacet\n facet normal -0.153766 -0.690392 0.706905\n outer loop\n vertex 3.01014 20.1322 9.5\n vertex 3.13388 20.6166 10\n vertex 2.51607 20.7542 10\n endloop\n endfacet\n facet normal -0.119903 -0.697044 0.706932\n outer loop\n vertex 2.4167 20.2642 9.5\n vertex 2.51607 20.7542 10\n vertex 1.89229 20.8615 10\n endloop\n endfacet\n facet normal -0.0859325 -0.702065 0.706909\n outer loop\n vertex 1.81754 20.3672 9.5\n vertex 1.89229 20.8615 10\n vertex 1.26402 20.9384 10\n endloop\n endfacet\n facet normal -0.0516225 -0.705349 0.706978\n outer loop\n vertex 1.21409 20.4409 9.5\n vertex 1.26402 20.9384 10\n vertex 0.632761 20.9846 10\n endloop\n endfacet\n facet normal -0.0172067 -0.706996 0.707008\n outer loop\n vertex 0.607763 20.4852 9.5\n vertex 0.632761 20.9846 10\n vertex 0 21 10\n endloop\n endfacet\n facet normal 0.0172166 -0.707002 0.707002\n outer loop\n vertex 0 20.5 9.5\n vertex 0 21 10\n vertex -0.607763 20.4852 9.5\n endloop\n endfacet\n facet normal -0.0172166 -0.707002 0.707002\n outer loop\n vertex 0.607763 20.4852 9.5\n vertex 0 21 10\n vertex 0 20.5 9.5\n endloop\n endfacet\n facet normal -0.284027 -0.647516 0.707143\n outer loop\n vertex 5.29892 19.3213 9.5\n vertex 4.93699 20.0261 10\n vertex 4.7422 19.5655 9.5\n endloop\n endfacet\n facet normal -0.252286 -0.660585 0.707092\n outer loop\n vertex 4.7422 19.5655 9.5\n vertex 4.34578 20.2521 10\n vertex 4.17427 19.7824 9.5\n endloop\n endfacet\n facet normal -0.219831 -0.672079 0.707095\n outer loop\n vertex 4.17427 19.7824 9.5\n vertex 3.74427 20.4491 10\n vertex 3.59645 19.9714 9.5\n endloop\n endfacet\n facet normal -0.187046 -0.682009 0.70702\n outer loop\n vertex 3.59645 19.9714 9.5\n vertex 3.13388 20.6166 10\n vertex 3.01014 20.1322 9.5\n endloop\n endfacet\n facet normal -0.153548 -0.690316 0.707026\n outer loop\n vertex 3.01014 20.1322 9.5\n vertex 2.51607 20.7542 10\n vertex 2.4167 20.2642 9.5\n endloop\n endfacet\n facet normal -0.119821 -0.697011 0.706978\n outer loop\n vertex 2.4167 20.2642 9.5\n vertex 1.89229 20.8615 10\n vertex 1.81754 20.3672 9.5\n endloop\n endfacet\n facet normal -0.0857327 -0.701973 0.707025\n outer loop\n vertex 1.81754 20.3672 9.5\n vertex 1.26402 20.9384 10\n vertex 1.21409 20.4409 9.5\n endloop\n endfacet\n facet normal -0.0515314 -0.705302 0.707032\n outer loop\n vertex 1.21409 20.4409 9.5\n vertex 0.632761 20.9846 10\n vertex 0.607763 20.4852 9.5\n endloop\n endfacet\n facet normal 0.0172067 -0.706996 0.707008\n outer loop\n vertex -0.607763 20.4852 9.5\n vertex 0 21 10\n vertex -0.632761 20.9846 10\n endloop\n endfacet\n facet normal 0.0515314 -0.705302 0.707032\n outer loop\n vertex -0.607763 20.4852 9.5\n vertex -0.632761 20.9846 10\n vertex -1.21409 20.4409 9.5\n endloop\n endfacet\n facet normal 0.0516225 -0.705349 0.706978\n outer loop\n vertex -1.21409 20.4409 9.5\n vertex -0.632761 20.9846 10\n vertex -1.26402 20.9384 10\n endloop\n endfacet\n facet normal 0.0859325 -0.702065 0.706909\n outer loop\n vertex -1.81754 20.3672 9.5\n vertex -1.26402 20.9384 10\n vertex -1.89229 20.8615 10\n endloop\n endfacet\n facet normal 0.119903 -0.697044 0.706932\n outer loop\n vertex -2.4167 20.2642 9.5\n vertex -1.89229 20.8615 10\n vertex -2.51607 20.7542 10\n endloop\n endfacet\n facet normal 0.153766 -0.690392 0.706905\n outer loop\n vertex -3.01014 20.1322 9.5\n vertex -2.51607 20.7542 10\n vertex -3.13388 20.6166 10\n endloop\n endfacet\n facet normal 0.187163 -0.682043 0.706957\n outer loop\n vertex -3.59645 19.9714 9.5\n vertex -3.13388 20.6166 10\n vertex -3.74427 20.4491 10\n endloop\n endfacet\n facet normal 0.220136 -0.672152 0.706931\n outer loop\n vertex -4.17427 19.7824 9.5\n vertex -3.74427 20.4491 10\n vertex -4.34578 20.2521 10\n endloop\n endfacet\n facet normal 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19.7824 9.5\n vertex 4.10255 19.8076 7.67164\n endloop\n endfacet\n facet normal -0.313127 -0.949711 -0.00080685\n outer loop\n vertex 4.10255 19.8076 7.67164\n vertex 4.17427 19.7824 9.5\n vertex 3.74176 19.9268 7.38376\n endloop\n endfacet\n facet normal -0.310883 -0.950447 -0.00131577\n outer loop\n vertex 3.74176 19.9268 7.38376\n vertex 4.17427 19.7824 9.5\n vertex 3.59645 19.9714 9.5\n endloop\n endfacet\n facet normal -0.264491 -0.964387 -0.00148218\n outer loop\n vertex 3.37751 20.0351 7.12249\n vertex 3.59645 19.9714 9.5\n vertex 3.01014 20.1322 9.5\n endloop\n endfacet\n facet normal -0.225805 -0.974173 0\n outer loop\n vertex 3.01014 20.1322 6.88807\n vertex 3.01014 20.1322 9.5\n vertex 2.63998 20.218 6.68071\n endloop\n endfacet\n facet normal -0.255536 -0.9668 0\n outer loop\n vertex 3.37751 20.0351 7.12249\n vertex 3.01014 20.1322 9.5\n vertex 3.01014 20.1322 6.88807\n endloop\n endfacet\n facet normal -0.28539 -0.958411 0.000602531\n outer loop\n vertex 3.74176 19.9268 7.38376\n vertex 3.59645 19.9714 9.5\n vertex 3.37751 20.0351 7.12249\n endloop\n endfacet\n facet normal -0.217125 -0.976143 -0.00119957\n outer loop\n vertex 2.63998 20.218 6.68071\n vertex 3.01014 20.1322 9.5\n vertex 2.4167 20.2642 9.5\n endloop\n endfacet\n facet normal -0.196556 -0.980492 0.000500715\n outer loop\n vertex 2.63998 20.218 6.68071\n vertex 2.4167 20.2642 9.5\n vertex 2.26739 20.2926 6.50062\n endloop\n endfacet\n facet normal -0.169422 -0.985543 -0.000897856\n outer loop\n vertex 2.26739 20.2926 6.50062\n vertex 2.4167 20.2642 9.5\n vertex 1.81754 20.3672 9.5\n endloop\n endfacet\n facet normal -0.136418 -0.990651 0.0002986\n outer loop\n vertex 1.8927 20.3559 6.34795\n vertex 1.81754 20.3672 9.5\n vertex 1.51626 20.4077 6.22284\n endloop\n endfacet\n facet normal -0.166408 -0.986057 -0.000432975\n outer loop\n vertex 1.8927 20.3559 6.34795\n vertex 2.26739 20.2926 6.50062\n vertex 1.81754 20.3672 9.5\n endloop\n endfacet\n facet normal -0.12123 -0.992624 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endloop\n endfacet\n facet normal 0.0757135 -0.99713 -0.000429934\n outer loop\n vertex -1.13843 20.4481 6.12541\n vertex -0.759536 20.4769 6.05576\n vertex -1.21409 20.4409 9.5\n endloop\n endfacet\n facet normal 0.12123 -0.992624 -0.00112202\n outer loop\n vertex -1.51626 20.4077 6.22284\n vertex -1.21409 20.4409 9.5\n vertex -1.81754 20.3672 9.5\n endloop\n endfacet\n facet normal 0.136418 -0.990651 0.0002986\n outer loop\n vertex -1.51626 20.4077 6.22284\n vertex -1.81754 20.3672 9.5\n vertex -1.8927 20.3559 6.34795\n endloop\n endfacet\n facet normal 0.166408 -0.986057 -0.000432975\n outer loop\n vertex -1.8927 20.3559 6.34795\n vertex -1.81754 20.3672 9.5\n vertex -2.26739 20.2926 6.50062\n endloop\n endfacet\n facet normal 0.169422 -0.985543 -0.000897856\n outer loop\n vertex -2.26739 20.2926 6.50062\n vertex -1.81754 20.3672 9.5\n vertex -2.4167 20.2642 9.5\n endloop\n endfacet\n facet normal 0.217125 -0.976143 -0.00119957\n outer loop\n vertex -2.63998 20.218 6.68071\n vertex -2.4167 20.2642 9.5\n vertex -3.01014 20.1322 9.5\n endloop\n endfacet\n facet normal 0.255536 -0.9668 0\n outer loop\n vertex -3.01014 20.1322 6.88807\n vertex -3.01014 20.1322 9.5\n vertex -3.37751 20.0351 7.12249\n endloop\n endfacet\n facet normal 0.225805 -0.974173 0\n outer loop\n vertex -2.63998 20.218 6.68071\n vertex -3.01014 20.1322 9.5\n vertex -3.01014 20.1322 6.88807\n endloop\n endfacet\n facet normal 0.196556 -0.980492 0.000500715\n outer loop\n vertex -2.26739 20.2926 6.50062\n vertex -2.4167 20.2642 9.5\n vertex -2.63998 20.218 6.68071\n endloop\n endfacet\n facet normal 0.264491 -0.964387 -0.00148218\n outer loop\n vertex -3.37751 20.0351 7.12249\n vertex -3.01014 20.1322 9.5\n vertex -3.59645 19.9714 9.5\n endloop\n endfacet\n facet normal 0.28539 -0.958411 0.000602531\n outer loop\n vertex -3.37751 20.0351 7.12249\n vertex -3.59645 19.9714 9.5\n vertex -3.74176 19.9268 7.38376\n endloop\n endfacet\n facet normal 0.310883 -0.950447 -0.00131577\n outer loop\n vertex 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0.923884 -0.382672\n outer loop\n vertex 6.83457 -2.89915 9.86479\n vertex 29.5 -2.84315 10\n vertex 6.50113 -2.9523 9.73647\n endloop\n endfacet\n facet normal 0 0.923894 -0.38265\n outer loop\n vertex 7.17121 -2.84315 10\n vertex 29.5 -2.84315 10\n vertex 6.83457 -2.89915 9.86479\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 26.7929 24.5 10\n vertex 29.5 18.8431 10\n vertex 29.5 21.7929 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 26.7929 24.5 10\n vertex 7.17121 18.8431 10\n vertex 29.5 18.8431 10\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex 3 24.5 10\n vertex 7.17121 18.8431 10\n vertex 26.7929 24.5 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 7.17121 18.8431 10\n vertex 3 24.5 10\n vertex 6.63493 19.1793 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 6.63493 19.1793 10\n vertex 3 24.5 10\n vertex 6.08292 19.489 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 6.08292 19.489 10\n vertex 3 24.5 10\n vertex 5.51649 19.7715 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 5.51649 19.7715 10\n vertex 3 24.5 10\n vertex 4.93699 20.0261 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 4.93699 20.0261 10\n vertex 3 24.5 10\n vertex 4.34578 20.2521 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 4.34578 20.2521 10\n vertex 3 24.5 10\n vertex 3.74427 20.4491 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3.74427 20.4491 10\n vertex 3 24.5 10\n vertex 3.13388 20.6166 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3 24.5 10\n vertex 2.51607 20.7542 10\n vertex 3.13388 20.6166 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3 24.5 10\n vertex 1.89229 20.8615 10\n vertex 2.51607 20.7542 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3 24.5 10\n vertex 1.26402 20.9384 10\n vertex 1.89229 20.8615 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3 24.5 10\n vertex 0.632761 20.9846 10\n vertex 1.26402 20.9384 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 3 24.5 10\n vertex 0 21 10\n vertex 0.632761 20.9846 10\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -3 24.5 10\n vertex 0 21 10\n vertex 3 24.5 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex 0 21 10\n vertex -3 24.5 10\n vertex -0.632761 20.9846 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -0.632761 20.9846 10\n vertex -3 24.5 10\n vertex -1.26402 20.9384 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -1.26402 20.9384 10\n vertex -3 24.5 10\n vertex -1.89229 20.8615 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -1.89229 20.8615 10\n vertex -3 24.5 10\n vertex -2.51607 20.7542 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 10\n vertex -3.13388 20.6166 10\n vertex -2.51607 20.7542 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 10\n vertex -3.74427 20.4491 10\n vertex -3.13388 20.6166 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 10\n vertex -4.34578 20.2521 10\n vertex -3.74427 20.4491 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 10\n vertex -4.93699 20.0261 10\n vertex -4.34578 20.2521 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 10\n vertex -5.51649 19.7715 10\n vertex -4.93699 20.0261 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 10\n vertex -6.08292 19.489 10\n vertex -5.51649 19.7715 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 10\n vertex -6.63493 19.1793 10\n vertex -6.08292 19.489 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -3 24.5 10\n vertex -7.17121 18.8431 10\n vertex -6.63493 19.1793 10\n endloop\n endfacet\n facet normal -0 0 1\n outer loop\n vertex -26.7929 24.5 10\n vertex -7.17121 18.8431 10\n vertex -3 24.5 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -29.5 18.8431 10\n vertex -26.7929 24.5 10\n vertex -29.5 21.7929 10\n endloop\n endfacet\n facet normal 0 0 1\n outer loop\n vertex -26.7929 24.5 10\n vertex -29.5 18.8431 10\n vertex -7.17121 18.8431 10\n endloop\n endfacet\nendsolid OpenSCAD_Model\n" }, { "path": "LICENSE", "content": "GNU GENERAL PUBLIC LICENSE\n Version 3, 29 June 2007\n\n Copyright (C) 2007 Free Software Foundation, Inc. \n Everyone is permitted to copy and distribute verbatim copies\n of this license document, but changing it is not allowed.\n\n Preamble\n\n The GNU General Public License is a free, copyleft license for\nsoftware and other kinds of works.\n\n The licenses for most software and other practical works are designed\nto take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16.\n\n If the disclaimer of warranty and limitation of liability provided\nabove cannot be given local legal effect according to their terms,\nreviewing courts shall apply local law that most closely approximates\nan absolute waiver of all civil liability in connection with the\nProgram, unless a warranty or assumption of liability accompanies a\ncopy of the Program in return for a fee.\n\n END OF TERMS AND CONDITIONS\n\n How to Apply These Terms to Your New Programs\n\n If you develop a new program, and you want it to be of the greatest\npossible use to the public, the best way to achieve this is to make it\nfree software which everyone can redistribute and change under these terms.\n\n To do so, attach the following notices to the program. It is safest\nto attach them to the start of each source file to most effectively\nstate the exclusion of warranty; and each file should have at least\nthe \"copyright\" line and a pointer to where the full notice is found.\n\n \n Copyright (C) \n\n This program is free software: you can redistribute it and/or modify\n it under the terms of the GNU General Public License as published by\n the Free Software Foundation, either version 3 of the License, or\n (at your option) any later version.\n\n This program is distributed in the hope that it will be useful,\n but WITHOUT ANY WARRANTY; without even the implied warranty of\n MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n GNU General Public License for more details.\n\n You should have received a copy of the GNU General Public License\n along with this program. If not, see .\n\nAlso add information on how to contact you by electronic and paper mail.\n\n If the program does terminal interaction, make it output a short\nnotice like this when it starts in an interactive mode:\n\n Copyright (C) \n This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.\n This is free software, and you are welcome to redistribute it\n under certain conditions; type `show c' for details.\n\nThe hypothetical commands `show w' and `show c' should show the appropriate\nparts of the General Public License. Of course, your program's commands\nmight be different; for a GUI interface, you would use an \"about box\".\n\n You should also get your employer (if you work as a programmer) or school,\nif any, to sign a \"copyright disclaimer\" for the program, if necessary.\nFor more information on this, and how to apply and follow the GNU GPL, see\n.\n\n The GNU General Public License does not permit incorporating your program\ninto proprietary programs. If your program is a subroutine library, you\nmay consider it more useful to permit linking proprietary applications with\nthe library. If this is what you want to do, use the GNU Lesser General\nPublic License instead of this License. But first, please read\n.\n" }, { "path": "README.md", "content": "# community_robot_arm \n[![IMAGE ALT TEXT HERE](https://img.youtube.com/vi/yh1NoQ2Z36A/0.jpg)](https://www.youtube.com/watch?v=yh1NoQ2Z36A)\n\nCommunity robot arm is an open source collaboration project participated by an online community of learners & developers. Clear background and documentation about the project is available [here](https://www.20sffactory.com/robot/about)
. It was developed based on the original design by [Florin Tobler](https://www.thingiverse.com/1718984)
with multiple rounds of open hardware & software modification.\n\n**REPOSITORY OF COMMUNITY ROBOT ARM**\n* arduino_firmware Version V0.81 (07Aug2021)\n - ESP32 (WEMOS D1R32) SUPPORT WITH WIIMOTE\n - ESP32 JOYSTICK ADJUSTABLE SPEED MULTIPLIER CONFIG\n* arduino_firmware Version V0.71 (13Jun2021)\n - ESP32 (WEMOS D1R32) SUPPORT WITH PS4 JOYSTICK OPTIOON\n - CUSTOM SPEED CURVE COMMAND\n - UNO OPTION WITH RAIL\n* arduino_firmware Version V0.61 (03May2021)\n - Arduino Uno Controller Option\n - Fixed Issue of G28 Homing for Original Ftobler without endstop\n* arduino_firmware Version V0.51 (03Apr2021)\n - Servo Gripper Option\n* arduino_firmware Version V0.41 (24Feb2021)\n - Different Lengths of Upper & Lower Shank Supported\n* arduino_firmware Version V0.31 (19JAN2021)\n Changes:\n - G92 Current Position Setting Option\n - M114 Endstop State Reporting\n - Limit Checking Move Overflow Prevention\n - Logger Functions\n* Arduino Firmware Version V0.21 (28OCT2020)\n Changes:\n - Speed Curve Configuration Choices: Flat, Arctan, Cosin\n - E Axis (Rail) Option enabled\n* CAD_files contains STL & STEP files\n\n[Facebook Group](https://www.facebook.com/groups/robotarm)
\n[Discord Group](https://discord.gg/W5GUR7eSru)
\n\n\nGraphical contents and CAD files are licensed under CC BY 4.0 License. Community Firmware is licensed under GNU-3.0 License.\n\n" }, { "path": "arduino_firmware/config.h_samples/config_sample_V0.61/20sffactory_rail/config.h", "content": "#ifndef CONFIG_H_\n#define CONFIG_H_\n\n//SERIAL SETTINGS\n#define BAUD 115200\n\n//MEGA2560 BY DEFAULT, SET TO true IF UNO & CNC SHILED USED TO DRIVE ROBOT\n#define USE_UNO false\n\n//ROBOT ARM LENGTH\n//#define SHANK_LENGTH 140.0\n#define LOW_SHANK_LENGTH 140.0\n#define HIGH_SHANK_LENGTH 140.0\n\n#define END_EFFECTOR_OFFSET 54.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM\n\n//INITIAL INTERPOLATION SETTINGS\n// INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES\n#define INITIAL_X 0.0 // CARTESIAN COORDINATE X \n#define INITIAL_Y (HIGH_SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y\n#define INITIAL_Z LOW_SHANK_LENGTH // CARTESIAN COORDINATE Z\n\n#define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION \n\n// CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS\n#define X_HOME_STEPS 1020 //765 //860 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM\n#define Y_HOME_STEPS 1900 //1940 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM\n#define Z_HOME_STEPS 3640 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER\n#define E0_HOME_STEPS 0 // STEPS FROM E0_ENDSTOP TO INITIAL_E0\n\n//HOMING SETTINGS:\n#define HOME_X_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Y_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Z_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_E0_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_ON_BOOT false // \"true\" IF HOMING REQUIRED AFTER POWER ON\n#define HOME_DWELL 1400 // INCREASE TO SLOW DOWN HOMING SPEED\n\n//STEPPER SETTINGS:\n#define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4\n#define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION\n#define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n\n//RAIL SETTINGS:\n#define RAIL true // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY.\n#define STEPS_PER_MM_RAIL 80.0 // STEPS PER MM FOR RAIL MOTOR\n#define RAIL_LENGTH 200.0 // MAX LENGTH OF RAIL IN MM\n\n//ENDSTOP SETTINGS:\n#define X_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define Y_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define Z_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define E0_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n\n//GEAR RATIO SETTINGS\n#define MOTOR_GEAR_TEETH 20.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION\n#define MAIN_GEAR_TEETH 90.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION\n\n//EQUIPMENT SETTINGS\n#define LASER false // 12V LASER CONNECTED TO LASER_PIN\n#define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN\n#define FAN_DELAY 120 // FAN ON IN SECONDS\n\n//GRIPPER SETTINGS\n#define GRIPPER 0 //GRIPPER MOTOR IN USE\n // 0: 28BYJ-48 MICRO STEPPER MOTOR\n // 1: 9G SERVO OR MG996 SERVO EQUIVALENT\n//28BYJ GRIPPER SETTINGS\n#define BYJ_GRIP_STEPS 1200 //FTOBLER: 1200\n//SERVO GRIPPER SETTINGS\n#define SERVO_GRIP_DEGREE 90.0\n#define SERVO_UNGRIP_DEGREE 0.0\n\n//COMMAND QUEUE SETTINGS\n#define QUEUE_SIZE 15\n\n//PRINT REPLY SETTING\n#define PRINT_REPLY false // \"true\" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED\n#define PRINT_REPLY_MSG \"ok\" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE\n\n//SPEED PROFILE SETTING\n#define SPEED_PROFILE 2 // OPTIONS BELOW\n//0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE)\n//1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION)\n//2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL FROM 0, SUITABLE FOR PRESET COMMAND MOVEMENTS)\n\n\n//LOG SETTINGS\n#define LOG_LEVEL 2\n//0: ERROR\n//1: INFO\n//2: DEBUG\n\n//MOVE LIMIT PARAMETERS\n#define Z_MIN -140.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND\n#define Z_MAX (LOW_SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX\n#define SHANKS_MIN_ANGLE_COS 0.791436948 \n#define SHANKS_MAX_ANGLE_COS -0.774944489 \n#define R_MIN (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MIN_ANGLE_COS) ))\n#define R_MAX (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MAX_ANGLE_COS) ))\n\n#endif\n" }, { "path": "arduino_firmware/config.h_samples/config_sample_V0.61/ftobler_original/config.h", "content": "#ifndef CONFIG_H_\n#define CONFIG_H_\n\n//SERIAL SETTINGS\n#define BAUD 115200\n\n//MEGA2560 BY DEFAULT, SET TO true IF UNO & CNC SHILED USED TO DRIVE ROBOT\n#define USE_UNO false\n\n//ROBOT ARM LENGTH\n//#define SHANK_LENGTH 140.0\n#define LOW_SHANK_LENGTH 120.0\n#define HIGH_SHANK_LENGTH 120.0\n\n#define END_EFFECTOR_OFFSET 54.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM\n\n//INITIAL INTERPOLATION SETTINGS\n// INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES\n#define INITIAL_X 0.0 // CARTESIAN COORDINATE X \n#define INITIAL_Y (HIGH_SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y\n#define INITIAL_Z LOW_SHANK_LENGTH // CARTESIAN COORDINATE Z\n\n#define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION \n\n// CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS\n#define X_HOME_STEPS 1020 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM\n#define Y_HOME_STEPS 1900 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM\n#define Z_HOME_STEPS 0 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER\n#define E0_HOME_STEPS 0 // STEPS FROM E0_ENDSTOP TO INITIAL_E0\n\n//HOMING SETTINGS:\n#define HOME_X_STEPPER false // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Y_STEPPER false // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Z_STEPPER false // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_E0_STEPPER false // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_ON_BOOT false // \"true\" IF HOMING REQUIRED AFTER POWER ON\n#define HOME_DWELL 1400 // INCREASE TO SLOW DOWN HOMING SPEED\n\n//STEPPER SETTINGS:\n#define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4\n#define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION\n#define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n\n//RAIL SETTINGS:\n#define RAIL false // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY.\n#define STEPS_PER_MM_RAIL 80.0 // STEPS PER MM FOR RAIL MOTOR\n#define RAIL_LENGTH 200.0 // MAX LENGTH OF RAIL IN MM\n\n//ENDSTOP SETTINGS:\n#define X_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define Y_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define Z_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define E0_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n\n//GEAR RATIO SETTINGS\n#define MOTOR_GEAR_TEETH 9.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION\n#define MAIN_GEAR_TEETH 32.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION\n\n//EQUIPMENT SETTINGS\n#define LASER false // 12V LASER CONNECTED TO LASER_PIN\n#define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN\n#define FAN_DELAY 120 // FAN ON IN SECONDS\n\n//GRIPPER SETTINGS\n#define GRIPPER 0 //GRIPPER MOTOR IN USE\n // 0: 28BYJ-48 MICRO STEPPER MOTOR\n // 1: 9G SERVO OR MG996 SERVO EQUIVALENT\n//28BYJ GRIPPER SETTINGS\n#define BYJ_GRIP_STEPS 1200 //FTOBLER: 1200\n//SERVO GRIPPER SETTINGS\n#define SERVO_GRIP_DEGREE 90.0\n#define SERVO_UNGRIP_DEGREE 0.0\n\n//COMMAND QUEUE SETTINGS\n#define QUEUE_SIZE 15\n\n//PRINT REPLY SETTING\n#define PRINT_REPLY false // \"true\" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED\n#define PRINT_REPLY_MSG \"ok\" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE\n\n//SPEED PROFILE SETTING\n#define SPEED_PROFILE 2 // OPTIONS BELOW\n//0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE)\n//1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION)\n//2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL FROM 0, SUITABLE FOR PRESET COMMAND MOVEMENTS)\n\n\n//LOG SETTINGS\n#define LOG_LEVEL 2\n//0: ERROR\n//1: INFO\n//2: DEBUG\n\n//MOVE LIMIT PARAMETERS\n#define Z_MIN -120.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND\n#define Z_MAX (LOW_SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX\n#define SHANKS_MIN_ANGLE_COS 0.791436948 \n#define SHANKS_MAX_ANGLE_COS -0.774944489 \n#define R_MIN (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MIN_ANGLE_COS) ))\n#define R_MAX (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MAX_ANGLE_COS) ))\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.31/RampsStepper.cpp", "content": "#include \"rampsStepper.h\"\n#include \"config.h\"\n\n#include \n\nRampsStepper::RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse) {\n setReductionRatio(MAIN_GEAR_TEETH / MOTOR_GEAR_TEETH, MICROSTEPS * STEPS_PER_REV);\n stepPin = aStepPin;\n dirPin = aDirPin;\n enablePin = aEnablePin;\n inverse = aInverse;\n stepperStepPosition = 0;\n stepperStepTargetPosition;\n pinMode(stepPin, OUTPUT);\n pinMode(dirPin, OUTPUT);\n pinMode(enablePin, OUTPUT);\n enable(false);\n}\n\nvoid RampsStepper::enable(bool value) {\n digitalWrite(enablePin, !value);\n}\n\nbool RampsStepper::isOnPosition() const {\n return stepperStepPosition == stepperStepTargetPosition;\n}\n\nint RampsStepper::getPosition() const {\n return stepperStepPosition;\n}\n\nvoid RampsStepper::setPosition(int value) {\n stepperStepPosition = value;\n stepperStepTargetPosition = value;\n}\n\nvoid RampsStepper::stepToPosition(int value) {\n stepperStepTargetPosition = value;\n}\n\nvoid RampsStepper::stepToPositionMM(float mm, float steps_per_mm) {\n stepperStepTargetPosition = mm * steps_per_mm;\n}\n\nvoid RampsStepper::stepRelative(int value) {\n value += stepperStepPosition;\n stepToPosition(value);\n}\n\nfloat RampsStepper::getPositionRad() const {\n return stepperStepPosition / radToStepFactor;\n}\n\nvoid RampsStepper::setPositionRad(float rad) {\n setPosition(rad * radToStepFactor);\n}\n\nvoid RampsStepper::stepToPositionRad(float rad) {\n stepperStepTargetPosition = rad * radToStepFactor;\n}\n\nvoid RampsStepper::stepRelativeRad(float rad) {\n stepRelative(rad * radToStepFactor);\n}\n\nvoid RampsStepper::update() { \n while (stepperStepTargetPosition < stepperStepPosition) { \n digitalWrite(dirPin, !inverse);\n digitalWrite(stepPin, HIGH);\n digitalWrite(stepPin, LOW);\n stepperStepPosition--;\n }\n \n while (stepperStepTargetPosition > stepperStepPosition) { \n digitalWrite(dirPin, inverse);\n digitalWrite(stepPin, HIGH);\n digitalWrite(stepPin, LOW);\n stepperStepPosition++;\n }\n}\n\nvoid RampsStepper::setReductionRatio(float gearRatio, int stepsPerRev) {\n radToStepFactor = gearRatio * stepsPerRev / 2 / PI;\n};\n" }, { "path": "arduino_firmware/robotArm_v0.31/RampsStepper.h", "content": "#ifndef RAMPSSTEPPER_H_\n#define RAMPSSTEPPER_H_\n\nclass RampsStepper {\npublic:\n RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse);\n void enable(bool value = true);\n \n bool isOnPosition() const;\n int getPosition() const;\n void setPosition(int value);\n void stepToPosition(int value);\n void stepToPositionMM(float mm, float steps_per_mm);\n void stepRelative(int value);\n float getPositionRad() const;\n void setPositionRad(float rad);\n void stepToPositionRad(float rad);\n void stepRelativeRad(float rad);\n \n void update();\n \n void setReductionRatio(float gearRatio, int stepsPerRev);\nprivate:\n int stepperStepTargetPosition;\n int stepperStepPosition;\n int stepPin;\n int dirPin;\n int enablePin; \n bool inverse;\n float radToStepFactor;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.31/byj_gripper.cpp", "content": "#include \"byj_gripper.h\"\n#include \n\nBYJ_Gripper::BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps){\n grip_steps = steps;\n byj_pin_0 = pin0;\n byj_pin_1 = pin1;\n byj_pin_2 = pin2;\n byj_pin_3 = pin3;\n step_cycle = 0;\n pinMode(byj_pin_0, OUTPUT);\n pinMode(byj_pin_1, OUTPUT);\n pinMode(byj_pin_2, OUTPUT);\n pinMode(byj_pin_3, OUTPUT);\n}\n\nvoid BYJ_Gripper::cmdOn() {\n direction = true;\n for (int i = 1; i <= grip_steps; i++) {\n moveSteps();\n delay(1);\n }\n}\n\nvoid BYJ_Gripper::cmdOff() {\n direction = false;\n for (int i = 1; i <= grip_steps; i++) {\n moveSteps();\n delay(1);\n }\n}\n\nvoid BYJ_Gripper::setDirection(){\n if (direction == true) {\n step_cycle++;\n }\n if (direction == false) {\n step_cycle--;\n }\n if (step_cycle > 7) {\n step_cycle = 0;\n }\n if (step_cycle < 0) {\n step_cycle = 7;\n }\n}\n\nvoid BYJ_Gripper::moveSteps() {\n switch (step_cycle) {\n case 0:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, HIGH);\n break;\n case 1:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, HIGH);\n break;\n case 2:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 3:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 4:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 5:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 6:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 7:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, HIGH);\n break;\n default:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n }\n setDirection();\n}\n" }, { "path": "arduino_firmware/robotArm_v0.31/byj_gripper.h", "content": "#ifndef BYJ_GRIPPER_H_\n#define BYJ_GRIPPER_H_\n\n\nclass BYJ_Gripper {\npublic:\n BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps);\n void cmdOn();\n void cmdOff();\nprivate:\n bool direction;\n void moveSteps();\n void setDirection();\n int byj_pin_0;\n int byj_pin_1;\n int byj_pin_2;\n int byj_pin_3;\n int grip_steps;\n int step_cycle;\n};\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.31/command.cpp", "content": "#include \"command.h\"\n#include \"logger.h\"\n#include \n\nCommand::Command() {\n //initialize Command to a zero-move value;\n new_command.valueX = NAN; \n new_command.valueY = NAN;\n new_command.valueZ = NAN;\n new_command.valueF = 0;\n new_command.valueE = NAN;\n new_command.valueS = 0;\n message = \"\";\n isRelativeCoord = false;\n}\n\nbool Command::handleGcode() {\n if (Serial.available()) {\n char c = Serial.read();\n if (c == '\\n') {\n return false; \n }\n if (c == '\\r') {\n bool b = processMessage(message);\n message = \"\";\n return b;\n } else {\n message += c; \n }\n }\n return false;\n}\n\nbool Command::processMessage(String msg){\n\n new_command.valueX = NAN; \n new_command.valueY = NAN;\n new_command.valueZ = NAN;\n new_command.valueE = NAN;\n new_command.valueF = 0;\n new_command.valueS = 0; \n msg.toUpperCase();\n msg.replace(\" \", \"\");\n int active_index = 0;\n new_command.id = msg[active_index];\n if((new_command.id != 'G') && (new_command.id != 'M')){\n printErr();\n return false;\n }\n\n active_index++;\n int temp_index = active_index;\n while (temp_index\n#include \"interpolation.h\"\n\nstruct Cmd {\n char id;\n int num;\n float valueX;\n float valueY;\n float valueZ;\n float valueF;\n float valueE;\n float valueS; \n};\n\nclass Command {\n public:\n Command();\n bool handleGcode();\n bool processMessage(String msg);\n void value_segment(String msg_segment);\n Cmd getCmd() const;\n void cmdGetPosition(Point pos, Point pos_offset, float highRad, float lowRad, float rotRad);\n void cmdToRelative();\n void cmdToAbsolute();\n bool isRelativeCoord;\n Cmd new_command;\n\n private: \n String message;\n};\n\nvoid cmdMove(Cmd(&cmd), Point pos, Point pos_offset, bool isRelativeCoord);\nvoid cmdDwell(Cmd(&cmd));\nvoid printErr();\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.31/config.h", "content": "#ifndef CONFIG_H_\n#define CONFIG_H_\n\n//SERIAL SETTINGS\n#define BAUD 115200\n\n//ROBOT ARM LENGTH\n#define SHANK_LENGTH 140.0\n#define END_EFFECTOR_OFFSET 55.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM\n\n//INITIAL INTERPOLATION SETTINGS\n// INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES\n#define INITIAL_X 0.0 // CARTESIAN COORDINATE X \n#define INITIAL_Y (SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y\n#define INITIAL_Z SHANK_LENGTH // CARTESIAN COORDINATE Z\n#define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION \n\n// CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS\n#define X_HOME_STEPS 765 //860 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM\n#define Y_HOME_STEPS 1750 //1940 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM\n#define Z_HOME_STEPS 3721 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER\n#define E0_HOME_STEPS 0 // STEPS FROM E0_ENDSTOP TO INITIAL_E0\n\n//HOMING SETTINGS:\n#define HOME_X_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Y_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Z_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_E0_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_ON_BOOT false // \"true\" IF HOMING REQUIRED AFTER POWER ON\n#define HOME_DWELL 1400 // INCREASE TO SLOW DOWN HOMING SPEED\n\n//STEPPER SETTINGS:\n#define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4\n#define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION\n#define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n\n//RAIL SETTINGS:\n#define RAIL true // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY.\n#define STEPS_PER_MM_RAIL 80.0 // STEPS PER MM FOR RAIL MOTOR\n#define RAIL_LENGTH 200.0 // MAX LENGTH OF RAIL IN MM\n\n//ENDSTOP SETTINGS:\n#define X_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define Y_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define Z_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define E0_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n\n//GEAR RATIO SETTINGS\n#define MOTOR_GEAR_TEETH 20.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION\n#define MAIN_GEAR_TEETH 90.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION\n\n//EQUIPMENT SETTINGS\n#define LASER false // 12V LASER CONNECTED TO LASER_PIN\n#define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN\n#define FAN_DELAY 120 // FAN ON IN SECONDS\n\n//28BYJ GRIPPER SETTINGS\n#define GRIP_STEPS 1200 //FTOBLER: 1200\n\n//COMMAND QUEUE SETTINGS\n#define QUEUE_SIZE 15\n\n//PRINT REPLY SETTING\n#define PRINT_REPLY false // \"true\" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED\n#define PRINT_REPLY_MSG \"ok\" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE\n\n//SPEED PROFILE SETTING\n#define SPEED_PROFILE 2 // OPTIONS BELOW\n//0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE)\n//1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION)\n//2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL FROM 0, SUITABLE FOR PRESET COMMAND MOVEMENTS)\n\n//LOG SETTINGS\n#define LOG_LEVEL 2\n//0: ERROR\n//1: INFO\n//2: DEBUG\n\n//MOVE LIMIT PARAMETERS\n#define Z_MIN -125.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND\n#define Z_MAX (SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX\n#define R_MIN (SHANK_LENGTH * 0.85 + END_EFFECTOR_OFFSET) //INNER RADIUS MINIMUM. x0.85 APPROX OF LAW OF COSINES\n#define R_MAX (SHANK_LENGTH * 1.85 + END_EFFECTOR_OFFSET) //OUTTER RADIUS MAXIMUM. x1.85 APPROX OF LAW OF COSINES\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.31/endstop.cpp", "content": "#include \"endstop.h\"\n#include \n\nEndstop::Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell){\n min_pin = a_min_pin;\n dir_pin = a_dir_pin;\n step_pin = a_step_pin;\n en_pin = a_en_pin;\n switch_input = a_switch_input;\n home_dwell = a_home_dwell;\n step_offset = a_step_offset;\n pinMode(min_pin, INPUT_PULLUP);\n}\n\nvoid Endstop::home(bool dir) {\n digitalWrite(en_pin, LOW);\n delayMicroseconds(5);\n if (dir==1){\n digitalWrite(dir_pin, HIGH);\n }\n else {\n digitalWrite(dir_pin, LOW);\n }\n delayMicroseconds(5);\n bState = digitalRead(min_pin);\n while (bState != switch_input) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n bState = digitalRead(min_pin);\n }\n homeOffset(dir);\n}\n\nvoid Endstop::homeOffset(bool dir){\n if (dir==1){\n digitalWrite(dir_pin, LOW);\n }\n else{\n digitalWrite(dir_pin, HIGH);\n }\n delayMicroseconds(5);\n for (int i = 1; i <= step_offset; i++) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n }\n}\n\nbool Endstop::state(){\n bState = digitalRead(min_pin);\n return bState;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.31/endstop.h", "content": "#ifndef ENDSTOP_H_\n#define ENDSTOP_H_\n\nclass Endstop {\n public:\n Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell);\n void home(bool dir);\n bool state();\n\n private:\n int min_pin;\n int dir_pin;\n int step_pin;\n int en_pin;\n int switch_input;\n int home_dwell;\n int step_offset;\n void homeOffset(bool dir);\n bool bState;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.31/equipment.cpp", "content": "#include \"equipment.h\"\n#include \n\nEquipment::Equipment(int equipment_pin){\n pin = equipment_pin;\n pinMode(pin, OUTPUT);\n}\n\nvoid Equipment::cmdOn(){\n digitalWrite(pin, HIGH); \n}\n\nvoid Equipment::cmdOff(){\n digitalWrite(pin, LOW); \n}\n" }, { "path": "arduino_firmware/robotArm_v0.31/equipment.h", "content": "#ifndef EQUIPMENT_H_\n#define EQUIPMENT_H_\n\nclass Equipment {\npublic:\n Equipment(int equipment_pin);\n void cmdOn();\n void cmdOff();\nprivate:\n int pin;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.31/fanControl.cpp", "content": "#include \"fanControl.h\"\n#include \n\n\nFanControl::FanControl(int aPin, int aFanDelay) {\n fan_delay = aFanDelay * 1000;\n nextShutdown = 0;\n pin = aPin;\n pinMode(pin , OUTPUT);\n digitalWrite(pin , LOW);\n state = false;\n}\n\nvoid FanControl::enable(bool value) {\n if (value) {\n state = true;\n digitalWrite(pin, HIGH);\n } else {\n disable();\n }\n}\n\nvoid FanControl::disable() {\n state = false;\n nextShutdown = millis() + fan_delay;\n update();\n}\n\nvoid FanControl::update() {\n if (!state) {\n if (millis() >= nextShutdown) {\n digitalWrite(pin, LOW);\n }\n }\n}\n" }, { "path": "arduino_firmware/robotArm_v0.31/fanControl.h", "content": "#ifndef FANCONTROL_H_\n#define FANCONTROL_H_\n\nclass FanControl {\npublic:\n FanControl(int aPin, int aFanDelay);\n void enable(bool value = true);\n void disable();\n void update();\nprivate:\n bool state;\n int pin;\n long fan_delay;\n long nextShutdown;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.31/interpolation.cpp", "content": "#include \"interpolation.h\"\n#include \"config.h\"\n#include \"queue.h\"\n#include \"logger.h\"\n\nInterpolation::Interpolation(){\n pos_offset.xmm = 0.0;\n pos_offset.ymm = 0.0;\n pos_offset.zmm = 0.0;\n pos_offset.emm = 0.0;\n}\n\n//G92 POSITION OFFSET FUNCTIONS\nvoid Interpolation::setPosOffset(float new_x, float new_y, float new_z, float new_e) {\n pos_offset.xmm = xPosmm - new_x;\n pos_offset.ymm = yPosmm - new_y;\n pos_offset.zmm = zPosmm - new_z;\n pos_offset.emm = ePosmm - new_e;\n Logger::logINFO(\"POSITION OFFSET: [X\" + String(pos_offset.xmm) + \" Y:\" + String(pos_offset.ymm) + \" Z:\" + String(pos_offset.zmm) + \" E:\" + String(pos_offset.emm) + \"]\");\n Logger::logINFO(\"CURRENT POSITION: [X:\"+String(new_x)+\" Y:\"+String(new_y)+\" Z:\"+String(new_z)+\" E:\"+String(new_e)+\"]\");\n}\n\nvoid Interpolation::resetPosOffset(){\n pos_offset.xmm = 0.0;\n pos_offset.ymm = 0.0;\n pos_offset.zmm = 0.0;\n pos_offset.emm = 0.0;\n}\n\nPoint Interpolation::getPosOffset() const {\n return pos_offset;\n}\n\n\nvoid Interpolation::setCurrentPos(float px, float py, float pz, float pe) {\n Point p;\n p.xmm = px;\n p.ymm = py;\n p.zmm = pz;\n p.emm = pe;\n setCurrentPos(p);\n}\n\nvoid Interpolation::setInterpolation(float px, float py, float pz, float pe, float v) {\n Point p;\n p.xmm = px;\n p.ymm = py;\n p.zmm = pz;\n p.emm = pe;\n setInterpolation(p, v);\n}\n\nvoid Interpolation::setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float v) {\n Point p1;\n Point p2;\n p1.xmm = p1x;\n p1.ymm = p1y;\n p1.zmm = p1z;\n p1.emm = p1e;\n p2.xmm = p2x;\n p2.ymm = p2y;\n p2.zmm = p2z;\n p2.emm = p2e;\n setInterpolation(p1, p2, v);\n}\n\nvoid Interpolation::setInterpolation(Point p1, float v) {\n Point p0;\n p0.xmm = xStartmm + xDelta;\n p0.ymm = yStartmm + yDelta;\n p0.zmm = zStartmm + zDelta;\n p0.emm = eStartmm + eDelta;\n setInterpolation(p0, p1, v);\n}\n\nvoid Interpolation::setInterpolation(Point p0, Point p1, float av) {\n v = av; //mm/s\n \n float a = (p1.xmm - p0.xmm);\n float b = (p1.ymm - p0.ymm);\n float c = (p1.zmm - p0.zmm);\n float e = abs(p1.emm - p0.emm);\n float dist = sqrt(a*a + b*b + c*c);\n\n if (dist < e) {\n dist = e; \n }\n\n if (v < 5) { //includes 0 = default value\n v = sqrt(dist) * 10; //set a good value for v\n }\n if (v < 5) {\n v = 5; \n }\n \n tmul = v / dist;\n \n xStartmm = p0.xmm;\n yStartmm = p0.ymm;\n zStartmm = p0.zmm;\n eStartmm = p0.emm;\n \n xDelta = (p1.xmm - p0.xmm);\n yDelta = (p1.ymm - p0.ymm);\n zDelta = (p1.zmm - p0.zmm);\n eDelta = (p1.emm - p0.emm);\n \n state = 0;\n \n startTime = micros();\n}\n\nvoid Interpolation::setCurrentPos(Point p) {\n xStartmm = p.xmm;\n yStartmm = p.ymm;\n zStartmm = p.zmm;\n eStartmm = p.emm;\n xDelta = 0;\n yDelta = 0;\n zDelta = 0;\n eDelta = 0;\n}\n\nvoid Interpolation::updateActualPosition() {\n if (state != 0) {\n return;\n } \n long microsek = micros();\n float t = (microsek - startTime) / 1000000.0;\n float progress;\n switch (SPEED_PROFILE){\n // FLAT SPEED CURVE\n case 0:\n progress = t * tmul;\n if (progress >= 1.0){\n progress = 1.0;\n state = 1;\n }\n break;\n // ARCTAN APPROX\n case 1:\n progress = atan((PI * t * tmul) - (PI * 0.5)) * 0.5 + 0.5;\n if (progress >= 1.0) {\n progress = 1.0; \n state = 1;\n }\n break;\n // COSIN APPROX\n case 2:\n progress = -cos(t * tmul * PI) * 0.5 + 0.5;\n if ((t * tmul) >= 1.0) {\n progress = 1.0; \n state = 1;\n }\n break;\n }\n pos_tracker[X_AXIS] = xStartmm + progress * xDelta;\n pos_tracker[Y_AXIS] = yStartmm + progress * yDelta;\n pos_tracker[Z_AXIS] = zStartmm + progress * zDelta;\n pos_tracker[E_AXIS] = eStartmm + progress * eDelta;\n\n if(isAllowedPosition(pos_tracker)){\n xPosmm = pos_tracker[X_AXIS];\n yPosmm = pos_tracker[Y_AXIS];\n zPosmm = pos_tracker[Z_AXIS];\n ePosmm = pos_tracker[E_AXIS];\n } else {\n pos_tracker[X_AXIS] = xPosmm;\n pos_tracker[Y_AXIS] = yPosmm;\n pos_tracker[Z_AXIS] = zPosmm;\n pos_tracker[E_AXIS] = ePosmm;\n state = 1;\n progress = 1.0;\n xStartmm = xPosmm;\n yStartmm = yPosmm;\n zStartmm = zPosmm;\n eStartmm = ePosmm;\n xDelta = 0;\n yDelta = 0;\n zDelta = 0;\n eDelta = 0;\n }\n //FOR DECIPHERING SPEED CURVE\n //Serial.print(\"xPosmm:\");\n //Serial.print(xPosmm);\n //Serial.print(\" yPosmm:\");\n //Serial.print(yPosmm);\n //Serial.print(\" zPosmm:\");\n //Serial.println(zPosmm);\n}\n\nbool Interpolation::isFinished() const {\n return state != 0; \n}\n\nfloat Interpolation::getXPosmm() const {\n return xPosmm;\n}\n\nfloat Interpolation::getYPosmm() const {\n return yPosmm;\n}\n\nfloat Interpolation::getZPosmm() const {\n return zPosmm;\n}\n\nfloat Interpolation::getEPosmm() const {\n return ePosmm;\n}\n\nPoint Interpolation::getPosmm() const {\n Point p;\n p.xmm = xPosmm;\n p.ymm = yPosmm;\n p.zmm = zPosmm;\n p.emm = ePosmm;\n return p;\n}\n\nbool Interpolation::isAllowedPosition(float pos_tracker[4]) {\n float squaredPositionModule = pos_tracker[X_AXIS]*pos_tracker[X_AXIS] + pos_tracker[Y_AXIS]*pos_tracker[Y_AXIS] + pos_tracker[Z_AXIS]*pos_tracker[Z_AXIS];\n \n if((squaredPositionModule <= R_MAX*R_MAX) \n && (squaredPositionModule >= R_MIN*R_MIN) \n && (pos_tracker[Z_AXIS]) >= Z_MIN \n && (pos_tracker[Z_AXIS]) <= Z_MAX\n && (pos_tracker[E_AXIS]) <= RAIL_LENGTH) {\n return true;\n } \n //Logger::logDEBUG(\"squaredPositionModule: \" + String(squaredPositionModule) + \", R_MIN^2: \" + String(R_MIN*R_MIN) + \", R_MAX^2: \" + String(R_MAX*R_MAX));\n Logger::logERROR(\"LIMIT REACHED: [X:\" + String(pos_tracker[X_AXIS]) + \" Y:\" + String(pos_tracker[Y_AXIS]) + \" Z:\" + String(pos_tracker[Z_AXIS]) + \" E:\" + String(pos_tracker[E_AXIS]) + \"]\");\n return false;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.31/interpolation.h", "content": "#ifndef INTERPOLATION_H_\n#define INTERPOLATION_H_\n#include \n\n#define X_AXIS 0\n#define Y_AXIS 1\n#define Z_AXIS 2\n#define E_AXIS 3\n\nstruct Point {\n float xmm;\n float ymm;\n float zmm;\n float emm;\n};\nclass Interpolation {\npublic:\n //void resetInterpolation(float px, float py, float pz);\n //void resetInterpolation(float p1x, float p1y, float p1z, float p2x, float p2y, float p2z);\n //void resetInterpolation(Point p0, Point p1);\n Interpolation();\n void setCurrentPos(float px, float py, float pz, float pe);\n void setInterpolation(float px, float py, float pz, float pe, float v = 0);\n void setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float av = 0);\n \n void setCurrentPos(Point p);\n void setInterpolation(Point p1, float v = 0);\n void setInterpolation(Point p0, Point p1, float v = 0);\n \n void updateActualPosition();\n bool isFinished() const;\n \n float getXPosmm() const;\n float getYPosmm() const;\n float getZPosmm() const;\n float getEPosmm() const;\n Point getPosmm() const;\n bool isAllowedPosition(float pos_tracker[4]);\n void setPosOffset(float new_x, float new_y, float new_z, float new_e);\n void resetPosOffset();\n Point getPosOffset() const;\n\nprivate:\n Point pos_offset;\n float pos_tracker[4];\n byte state;\n \n long startTime; \n \n float xStartmm;\n float yStartmm;\n float zStartmm;\n float eStartmm;\n float xDelta;\n float yDelta;\n float zDelta;\n float eDelta;\n float xPosmm;\n float yPosmm;\n float zPosmm;\n float ePosmm;\n float v;\n float tmul;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.31/logger.cpp", "content": "#include \"logger.h\"\n#include \"config.h\"\n\nvoid Logger::log(String message, int level) {\n if(LOG_LEVEL >= level) {\n switch(level) {\n case LOG_ERROR:\n Serial.print(\"ERROR: \");\n break;\n case LOG_INFO:\n Serial.print(\"INFO: \");\n break;\n case LOG_DEBUG:\n Serial.print(\"DEBUG: \");\n break;\n }\n Serial.println(message);\n }\n}\nvoid Logger::logERROR(String message) {\n log(message, LOG_ERROR);\n}\nvoid Logger::logINFO(String message) {\n log(message, LOG_INFO);\n}\nvoid Logger::logDEBUG(String message) {\n log(message, LOG_DEBUG);\n}" }, { "path": "arduino_firmware/robotArm_v0.31/logger.h", "content": "#ifndef LOGGER_H_\n#define LOGGER_H_\n\n#include \n\n#define LOG_ERROR 0\n#define LOG_INFO 1\n#define LOG_DEBUG 2\n\nclass Logger {\n public:\n static void log(String message, int level);\n static void logINFO(String message);\n static void logERROR(String message);\n static void logDEBUG(String message);\n};\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.31/pinout.h", "content": "#ifndef PINOUT_H_\n#define PINOUT_H_\n\n/*\n * pinout of RAMPS 1.4\n *\n * source: http://reprap.org/wiki/RAMPS_1.4\n */\n\n//RAMPS 1.4 PINS\n#define X_STEP_PIN 54\n#define X_DIR_PIN 55\n#define X_ENABLE_PIN 38\n#define X_MIN_PIN 3\n#define X_MAX_PIN 2\n \n#define Y_STEP_PIN 60\n#define Y_DIR_PIN 61\n#define Y_ENABLE_PIN 56\n#define Y_MIN_PIN 14\n#define Y_MAX_PIN 15\n\n#define Z_STEP_PIN 46\n#define Z_DIR_PIN 48\n#define Z_ENABLE_PIN 62\n#define Z_MIN_PIN 18\n#define Z_MAX_PIN 19\n\n#define E0_STEP_PIN 26\n#define E0_DIR_PIN 28\n#define E0_ENABLE_PIN 24\n#define E0_MIN_PIN 20\n\n#define E1_STEP_PIN 36\n#define E1_DIR_PIN 34\n#define E1_ENABLE_PIN 30\n\n#define BYJ_PIN_0 40\n#define BYJ_PIN_1 63\n#define BYJ_PIN_2 59\n#define BYJ_PIN_3 64\n\n#define PUMP_PIN 8\n#define LASER_PIN 10\n#define LED_PIN 13\n\n#define SDPOWER -1\n#define SDSS 53\n\n#define FAN_PIN 9\n\n#define PS_ON_PIN 12\n#define KILL_PIN -1\n\n//#define HEATER_0_PIN 10\n//#define HEATER_1_PIN 8\n#define TEMP_0_PIN 13 // ANALOG NUMBERING\n#define TEMP_1_PIN 14 // ANALOG NUMBERING\n\n//RAMPS AUX-2\n\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.31/queue.h", "content": "#ifndef QUEUE_H_\n#define QUEUE_H_\n\ntemplate class Queue {\npublic:\n Queue(int alen);\n ~Queue();\n bool push(Element elem);\n Element pop();\n bool isFull() const;\n bool isEmpty() const;\n int getFreeSpace() const;\n int getMaxLength() const;\n inline int getUsedSpace() const;\nprivate:\n Queue(Queue& q); //copy const.\n Element* data;\n int len;\n int start;\n int count;\n};\n\ntemplate \nQueue::Queue(int alen) {\n data = new Element[alen];\n len = alen;\n start = 0;\n count = 0;\n}\n\ntemplate \nQueue::~Queue() {\n delete data;\n}\n\ntemplate \nQueue::Queue(Queue& q) {\n //nothing ever is allowed to do something here\n}\n\ntemplate \nbool Queue::push(Element elem) {\n data[(start + count++) % len] = elem;\n}\n\ntemplate \nElement Queue::pop() {\n count--;\n int s = start;\n start = (start + 1) % len;\n return data[(s) % len];\n}\n\ntemplate \nbool Queue::isFull() const {\n return count >= len;\n}\n\ntemplate \nbool Queue::isEmpty() const {\n return count <= 0;\n}\n\ntemplate \nint Queue::getFreeSpace() const {\n return len - count;\n}\n\ntemplate \nint Queue::getMaxLength() const {\n return len;\n}\n\ntemplate \nint Queue::getUsedSpace() const {\n return count;\n}\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.31/robotArm_v0.31.ino", "content": "//20SFFACTORY COMMUNITY ROBOT FIRMWARE v0.31\n//WITH G92, M114, LOGGER, LIMIT_CHECK FUNCTIONS\n\n#include \"config.h\"\n#include \"pinout.h\"\n#include \"logger.h\"\n\n#include \n\n#include \"robotGeometry.h\"\n#include \"interpolation.h\"\n#include \"fanControl.h\"\n#include \"rampsStepper.h\"\n#include \"queue.h\"\n#include \"command.h\"\n#include \"byj_gripper.h\"\n#include \"equipment.h\"\n#include \"endstop.h\"\n\n//STEPPER OBJECTS\nRampsStepper stepperHigher(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, INVERSE_X_STEPPER);\nRampsStepper stepperLower(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, INVERSE_Y_STEPPER);\nRampsStepper stepperRotate(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, INVERSE_Z_STEPPER);\n\n//RAIL OBJECTS\nRampsStepper stepperRail(E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, INVERSE_E0_STEPPER);\nEndstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL);\n\n//ENDSTOP OBJECTS\nEndstop endstopX(X_MIN_PIN, X_DIR_PIN, X_STEP_PIN, X_ENABLE_PIN, X_MIN_INPUT, X_HOME_STEPS, HOME_DWELL);\nEndstop endstopY(Y_MIN_PIN, Y_DIR_PIN, Y_STEP_PIN, Y_ENABLE_PIN, Y_MIN_INPUT, Y_HOME_STEPS, HOME_DWELL);\nEndstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL);\n\n//EQUIPMENT OBJECTS\nBYJ_Gripper byj_gripper(BYJ_PIN_0, BYJ_PIN_1, BYJ_PIN_2, BYJ_PIN_3, GRIP_STEPS);\nEquipment laser(LASER_PIN);\nEquipment pump(PUMP_PIN);\nEquipment led(LED_PIN);\nFanControl fan(FAN_PIN, FAN_DELAY);\n\n//EXECUTION & COMMAND OBJECTS\nRobotGeometry geometry(END_EFFECTOR_OFFSET, SHANK_LENGTH);\nInterpolation interpolator;\nQueue queue(QUEUE_SIZE);\nCommand command;\n\nvoid setup()\n{\n Serial.begin(BAUD);\n stepperHigher.setPositionRad(PI / 2.0); // 90°\n stepperLower.setPositionRad(0); // 0°\n stepperRotate.setPositionRad(0); // 0°\n stepperRail.setPosition(0);\n if (HOME_ON_BOOT) { //HOME DURING SETUP() IF HOME_ON_BOOT ENABLED\n homeSequence(); \n Logger::logINFO(\"ROBOT ONLINE\");\n } else {\n setStepperEnable(false); //ROBOT ADJUSTABLE BY HAND AFTER TURNING ON\n if (HOME_X_STEPPER && HOME_Y_STEPPER && !HOME_Z_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"ROTATE ROBOT TO FACE FRONT CENTRE & SEND G28 TO CALIBRATE\");\n }\n if (HOME_X_STEPPER && HOME_Y_STEPPER && HOME_Z_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"SEND G28 TO CALIBRATE\");\n }\n if (!HOME_X_STEPPER && !HOME_Y_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"HOME ROBOT MANUALLY & SEND G28 TO CALIBRATE\");\n }\n }\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n}\n\nvoid loop() {\n interpolator.updateActualPosition();\n geometry.set(interpolator.getXPosmm(), interpolator.getYPosmm(), interpolator.getZPosmm());\n stepperRotate.stepToPositionRad(geometry.getRotRad());\n stepperLower.stepToPositionRad(geometry.getLowRad());\n stepperHigher.stepToPositionRad(geometry.getHighRad());\n if (RAIL){\n stepperRail.stepToPositionMM(interpolator.getEPosmm(), STEPS_PER_MM_RAIL);\n }\n stepperRotate.update();\n stepperLower.update();\n stepperHigher.update();\n if (RAIL){\n stepperRail.update();\n }\n fan.update();\n if (!queue.isFull()) {\n if (command.handleGcode()) {\n queue.push(command.getCmd());\n }\n }\n if ((!queue.isEmpty()) && interpolator.isFinished()) {\n executeCommand(queue.pop());\n if (PRINT_REPLY) {Serial.println(PRINT_REPLY_MSG);}\n }\n\n if (millis() % 500 < 250) {\n led.cmdOn();\n }\n else {\n led.cmdOff();\n }\n}\n\nvoid executeCommand(Cmd cmd) {\n\n if (cmd.id == -1) {\n printErr();\n return;\n }\n\n if (cmd.id == 'G') {\n switch (cmd.num) {\n case 0:\n case 1:\n fan.enable(true);\n Point posoffset;\n posoffset = interpolator.getPosOffset(); \n cmdMove(cmd, interpolator.getPosmm(), posoffset, command.isRelativeCoord);\n interpolator.setInterpolation(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE, cmd.valueF);\n Logger::logINFO(\"LINEAR MOVE: X\" + String(cmd.valueX-posoffset.xmm) + \" Y\" + String(cmd.valueY-posoffset.ymm) + \" Z\" + String(cmd.valueZ-posoffset.zmm) + \" E\" + String(cmd.valueE-posoffset.emm));\n break;\n case 4: cmdDwell(cmd); break;\n case 28: homeSequence(); break;\n case 90: command.cmdToAbsolute(); break; // ABSOLUTE COORDINATE MODE\n case 91: command.cmdToRelative(); break; // RELATIVE COORDINATE MODE\n case 92: \n interpolator.resetPosOffset();\n cmdMove(cmd, interpolator.getPosmm(), interpolator.getPosOffset(), false);\n interpolator.setPosOffset(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE);\n break;\n default: printErr();\n }\n }\n else if (cmd.id == 'M') {\n switch (cmd.num) {\n case 1: pump.cmdOn(); break;\n case 2: pump.cmdOff(); break;\n case 3: byj_gripper.cmdOn(); break;\n case 5: byj_gripper.cmdOff(); break;\n case 6: laser.cmdOn(); break;\n case 7: laser.cmdOff(); break;\n case 17: setStepperEnable(true); break;\n case 18: setStepperEnable(false); break;\n case 106: fan.enable(true); break;\n case 107: fan.enable(false); break;\n case 114: command.cmdGetPosition(interpolator.getPosmm(), interpolator.getPosOffset(), stepperHigher.getPosition(), stepperLower.getPosition(), stepperRotate.getPosition()); break;// Return the current positions of all axis \n case 119: \n Logger::logINFO(\"ENDSTOP STATE: [UPPER_SHANK(X):\"+String(endstopX.state())+\" LOWER_SHANK(Y):\"+String(endstopY.state())+\" ROTATE_GEAR(Z):\"+String(endstopZ.state())+\"]\");\n break;\n default: printErr();\n }\n }\n else {\n printErr();\n }\n}\n\nvoid setStepperEnable(bool enable){\n stepperRotate.enable(enable);\n stepperLower.enable(enable);\n stepperHigher.enable(enable);\n if(RAIL){\n stepperRail.enable(enable);\n }\n fan.enable(enable);\n}\n\nvoid homeSequence(){\n setStepperEnable(false);\n fan.enable(true);\n if (HOME_Y_STEPPER){\n endstopY.home(!INVERSE_Y_STEPPER); //INDICATE STEPPER HOMING DIRECTION\n }\n if (HOME_X_STEPPER){\n endstopX.home(!INVERSE_X_STEPPER); //INDICATE STEPPER HOMING DIRECTION\n }\n if (HOME_Z_STEPPER){\n endstopZ.home(INVERSE_Z_STEPPER); //INDICATE STEPPER HOMING DIRECDTION\n }\n if (RAIL){\n if (HOME_E0_STEPPER){\n endstopE0.home(!INVERSE_E0_STEPPER); //\n }\n }\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n Logger::logINFO(\"HOMING COMPLETE\");\n}\n" }, { "path": "arduino_firmware/robotArm_v0.31/robotGeometry.cpp", "content": "#include \"robotGeometry.h\"\n\n#include \n#include \n\nRobotGeometry::RobotGeometry(float a_ee_offset, float a_shank_length) {\n ee_offset = a_ee_offset;\n shank_length = a_shank_length;\n}\n\nvoid RobotGeometry::set(float axmm, float aymm, float azmm) {\n xmm = axmm;\n ymm = aymm;\n zmm = azmm; \n calculateGrad();\n}\n\nfloat RobotGeometry::getXmm() const {\n return xmm;\n}\n\nfloat RobotGeometry::getYmm() const {\n return ymm;\n}\n\nfloat RobotGeometry::getZmm() const {\n return zmm;\n}\n\nfloat RobotGeometry::getRotRad() const {\n return rot;\n}\n\nfloat RobotGeometry::getLowRad() const {\n return low;\n}\n\nfloat RobotGeometry::getHighRad() const {\n return high;\n}\n\nvoid RobotGeometry::calculateGrad() {\n \n float rrot = sqrt((xmm * xmm) + (ymm * ymm)) - ee_offset; //radius from Top View\n float rrot_ee = rrot + ee_offset;\n float rside = sqrt((rrot * rrot) + (zmm * zmm)); //radius from Side View. Use rrot instead of ymm..for everything\n \n rot = asin(xmm / rrot_ee);\n high = acos((rside * 0.5) / shank_length) * 2.0;\n \n //Angle of Lower Stepper Motor (asin()=Angle To Gripper)\n if (zmm > 0) {\n low = asin(rrot / rside) + ((PI - high) / 2.0) - (PI / 2.0);\n } else {\n low = PI - asin(rrot / rside) + ((PI - high) / 2.0) - (PI / 2.0);\n }\n //correct higher Angle as it is mechanically bounded width lower Motor\n high = high + low;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.31/robotGeometry.h", "content": "#ifndef ROBOTGEOMETRY_H_\n#define ROBOTGEOMETRY_H_\n\nclass RobotGeometry {\npublic:\n RobotGeometry(float a_ee_offset, float a_shank_length);\n void set(float axmm, float aymm, float azmm);\n float getXmm() const;\n float getYmm() const;\n float getZmm() const;\n float getRotRad() const;\n float getLowRad() const;\n float getHighRad() const;\nprivate:\n void calculateGrad();\n float ee_offset;\n float shank_length;\n float xmm;\n float ymm;\n float zmm;\n float rot;\n float low;\n float high;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.41/RampsStepper.cpp", "content": "#include \"RampsStepper.h\"\n#include \"config.h\"\n\n#include \n\nRampsStepper::RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse) {\n setReductionRatio(MAIN_GEAR_TEETH / MOTOR_GEAR_TEETH, MICROSTEPS * STEPS_PER_REV);\n stepPin = aStepPin;\n dirPin = aDirPin;\n enablePin = aEnablePin;\n inverse = aInverse;\n stepperStepPosition = 0;\n stepperStepTargetPosition;\n pinMode(stepPin, OUTPUT);\n pinMode(dirPin, OUTPUT);\n pinMode(enablePin, OUTPUT);\n enable(false);\n}\n\nvoid RampsStepper::enable(bool value) {\n digitalWrite(enablePin, !value);\n}\n\nbool RampsStepper::isOnPosition() const {\n return stepperStepPosition == stepperStepTargetPosition;\n}\n\nint RampsStepper::getPosition() const {\n return stepperStepPosition;\n}\n\nvoid RampsStepper::setPosition(int value) {\n stepperStepPosition = value;\n stepperStepTargetPosition = value;\n}\n\nvoid RampsStepper::stepToPosition(int value) {\n stepperStepTargetPosition = value;\n}\n\nvoid RampsStepper::stepToPositionMM(float mm, float steps_per_mm) {\n stepperStepTargetPosition = mm * steps_per_mm;\n}\n\nvoid RampsStepper::stepRelative(int value) {\n value += stepperStepPosition;\n stepToPosition(value);\n}\n\nfloat RampsStepper::getPositionRad() const {\n return stepperStepPosition / radToStepFactor;\n}\n\nvoid RampsStepper::setPositionRad(float rad) {\n setPosition(rad * radToStepFactor);\n}\n\nvoid RampsStepper::stepToPositionRad(float rad) {\n stepperStepTargetPosition = rad * radToStepFactor;\n}\n\nvoid RampsStepper::stepRelativeRad(float rad) {\n stepRelative(rad * radToStepFactor);\n}\n\nvoid RampsStepper::update() { \n while (stepperStepTargetPosition < stepperStepPosition) { \n digitalWrite(dirPin, !inverse);\n digitalWrite(stepPin, HIGH);\n digitalWrite(stepPin, LOW);\n stepperStepPosition--;\n }\n \n while (stepperStepTargetPosition > stepperStepPosition) { \n digitalWrite(dirPin, inverse);\n digitalWrite(stepPin, HIGH);\n digitalWrite(stepPin, LOW);\n stepperStepPosition++;\n }\n}\n\nvoid RampsStepper::setReductionRatio(float gearRatio, int stepsPerRev) {\n radToStepFactor = gearRatio * stepsPerRev / 2 / PI;\n};\n" }, { "path": "arduino_firmware/robotArm_v0.41/RampsStepper.h", "content": "#ifndef RAMPSSTEPPER_H_\n#define RAMPSSTEPPER_H_\n\nclass RampsStepper {\npublic:\n RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse);\n void enable(bool value = true);\n \n bool isOnPosition() const;\n int getPosition() const;\n void setPosition(int value);\n void stepToPosition(int value);\n void stepToPositionMM(float mm, float steps_per_mm);\n void stepRelative(int value);\n float getPositionRad() const;\n void setPositionRad(float rad);\n void stepToPositionRad(float rad);\n void stepRelativeRad(float rad);\n \n void update();\n \n void setReductionRatio(float gearRatio, int stepsPerRev);\nprivate:\n int stepperStepTargetPosition;\n int stepperStepPosition;\n int stepPin;\n int dirPin;\n int enablePin; \n bool inverse;\n float radToStepFactor;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.41/byj_gripper.cpp", "content": "#include \"byj_gripper.h\"\n#include \n\nBYJ_Gripper::BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps){\n grip_steps = steps;\n byj_pin_0 = pin0;\n byj_pin_1 = pin1;\n byj_pin_2 = pin2;\n byj_pin_3 = pin3;\n step_cycle = 0;\n pinMode(byj_pin_0, OUTPUT);\n pinMode(byj_pin_1, OUTPUT);\n pinMode(byj_pin_2, OUTPUT);\n pinMode(byj_pin_3, OUTPUT);\n}\n\nvoid BYJ_Gripper::cmdOn() {\n direction = true;\n for (int i = 1; i <= grip_steps; i++) {\n moveSteps();\n delay(1);\n }\n}\n\nvoid BYJ_Gripper::cmdOff() {\n direction = false;\n for (int i = 1; i <= grip_steps; i++) {\n moveSteps();\n delay(1);\n }\n}\n\nvoid BYJ_Gripper::setDirection(){\n if (direction == true) {\n step_cycle++;\n }\n if (direction == false) {\n step_cycle--;\n }\n if (step_cycle > 7) {\n step_cycle = 0;\n }\n if (step_cycle < 0) {\n step_cycle = 7;\n }\n}\n\nvoid BYJ_Gripper::moveSteps() {\n switch (step_cycle) {\n case 0:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, HIGH);\n break;\n case 1:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, HIGH);\n break;\n case 2:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 3:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 4:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 5:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 6:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 7:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, HIGH);\n break;\n default:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n }\n setDirection();\n}\n" }, { "path": "arduino_firmware/robotArm_v0.41/byj_gripper.h", "content": "#ifndef BYJ_GRIPPER_H_\n#define BYJ_GRIPPER_H_\n\n\nclass BYJ_Gripper {\npublic:\n BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps);\n void cmdOn();\n void cmdOff();\nprivate:\n bool direction;\n void moveSteps();\n void setDirection();\n int byj_pin_0;\n int byj_pin_1;\n int byj_pin_2;\n int byj_pin_3;\n int grip_steps;\n int step_cycle;\n};\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.41/command.cpp", "content": "#include \"command.h\"\n#include \"logger.h\"\n#include \n\nCommand::Command() {\n //initialize Command to a zero-move value;\n new_command.valueX = NAN; \n new_command.valueY = NAN;\n new_command.valueZ = NAN;\n new_command.valueF = 0;\n new_command.valueE = NAN;\n new_command.valueS = 0;\n message = \"\";\n isRelativeCoord = false;\n}\n\nbool Command::handleGcode() {\n if (Serial.available()) {\n char c = Serial.read();\n if (c == '\\n') {\n return false; \n }\n if (c == '\\r') {\n bool b = processMessage(message);\n message = \"\";\n return b;\n } else {\n message += c; \n }\n }\n return false;\n}\n\nbool Command::processMessage(String msg){\n\n new_command.valueX = NAN; \n new_command.valueY = NAN;\n new_command.valueZ = NAN;\n new_command.valueE = NAN;\n new_command.valueF = 0;\n new_command.valueS = 0; \n msg.toUpperCase();\n msg.replace(\" \", \"\");\n int active_index = 0;\n new_command.id = msg[active_index];\n if((new_command.id != 'G') && (new_command.id != 'M')){\n printErr();\n return false;\n }\n\n active_index++;\n int temp_index = active_index;\n while (temp_index\n#include \"interpolation.h\"\n\nstruct Cmd {\n char id;\n int num;\n float valueX;\n float valueY;\n float valueZ;\n float valueF;\n float valueE;\n float valueS; \n};\n\nclass Command {\n public:\n Command();\n bool handleGcode();\n bool processMessage(String msg);\n void value_segment(String msg_segment);\n Cmd getCmd() const;\n void cmdGetPosition(Point pos, Point pos_offset, float highRad, float lowRad, float rotRad);\n void cmdToRelative();\n void cmdToAbsolute();\n bool isRelativeCoord;\n Cmd new_command;\n\n private: \n String message;\n};\n\nvoid cmdMove(Cmd(&cmd), Point pos, Point pos_offset, bool isRelativeCoord);\nvoid cmdDwell(Cmd(&cmd));\nvoid printErr();\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.41/config.h", "content": "#ifndef CONFIG_H_\n#define CONFIG_H_\n\n//SERIAL SETTINGS\n#define BAUD 115200\n\n//ROBOT ARM LENGTH\n//#define SHANK_LENGTH 140.0\n#define LOW_SHANK_LENGTH 140.0\n#define HIGH_SHANK_LENGTH 140.0\n\n#define END_EFFECTOR_OFFSET 55.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM\n\n//INITIAL INTERPOLATION SETTINGS\n// INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES\n#define INITIAL_X 0.0 // CARTESIAN COORDINATE X \n#define INITIAL_Y (HIGH_SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y\n#define INITIAL_Z LOW_SHANK_LENGTH // CARTESIAN COORDINATE Z\n\n#define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION \n\n// CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS\n#define X_HOME_STEPS 765 //765 //860 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM\n#define Y_HOME_STEPS 1940 //1940 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM\n#define Z_HOME_STEPS 3600 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER\n#define E0_HOME_STEPS 0 // STEPS FROM E0_ENDSTOP TO INITIAL_E0\n\n//HOMING SETTINGS:\n#define HOME_X_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Y_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Z_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_E0_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_ON_BOOT false // \"true\" IF HOMING REQUIRED AFTER POWER ON\n#define HOME_DWELL 1400 // INCREASE TO SLOW DOWN HOMING SPEED\n\n//STEPPER SETTINGS:\n#define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4\n#define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION\n#define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n\n//RAIL SETTINGS:\n#define RAIL true // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY.\n#define STEPS_PER_MM_RAIL 80.0 // STEPS PER MM FOR RAIL MOTOR\n#define RAIL_LENGTH 200.0 // MAX LENGTH OF RAIL IN MM\n\n//ENDSTOP SETTINGS:\n#define X_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define Y_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define Z_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define E0_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n\n//GEAR RATIO SETTINGS\n#define MOTOR_GEAR_TEETH 20.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION\n#define MAIN_GEAR_TEETH 90.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION\n\n//EQUIPMENT SETTINGS\n#define LASER false // 12V LASER CONNECTED TO LASER_PIN\n#define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN\n#define FAN_DELAY 120 // FAN ON IN SECONDS\n\n//28BYJ GRIPPER SETTINGS\n#define GRIP_STEPS 1200 //FTOBLER: 1200\n\n//COMMAND QUEUE SETTINGS\n#define QUEUE_SIZE 15\n\n//PRINT REPLY SETTING\n#define PRINT_REPLY false // \"true\" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED\n#define PRINT_REPLY_MSG \"ok\" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE\n\n//SPEED PROFILE SETTING\n#define SPEED_PROFILE 2 // OPTIONS BELOW\n//0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE)\n//1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION)\n//2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL FROM 0, SUITABLE FOR PRESET COMMAND MOVEMENTS)\n\n//LOG SETTINGS\n#define LOG_LEVEL 2\n//0: ERROR\n//1: INFO\n//2: DEBUG\n\n//MOVE LIMIT PARAMETERS\n#define Z_MIN -125.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND\n#define Z_MAX (LOW_SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX\n#define SHANKS_MIN_ANGLE_COS 0.791436948 \n#define SHANKS_MAX_ANGLE_COS -0.774944489 \n#define R_MIN (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MIN_ANGLE_COS) ))\n#define R_MAX (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MAX_ANGLE_COS) ))\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.41/endstop.cpp", "content": "#include \"endstop.h\"\n#include \n\nEndstop::Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell){\n min_pin = a_min_pin;\n dir_pin = a_dir_pin;\n step_pin = a_step_pin;\n en_pin = a_en_pin;\n switch_input = a_switch_input;\n home_dwell = a_home_dwell;\n step_offset = a_step_offset;\n pinMode(min_pin, INPUT_PULLUP);\n}\n\nvoid Endstop::home(bool dir) {\n digitalWrite(en_pin, LOW);\n delayMicroseconds(5);\n if (dir==1){\n digitalWrite(dir_pin, HIGH);\n }\n else {\n digitalWrite(dir_pin, LOW);\n }\n delayMicroseconds(5);\n bState = digitalRead(min_pin);\n while (bState != switch_input) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n bState = digitalRead(min_pin);\n }\n homeOffset(dir);\n}\n\nvoid Endstop::homeOffset(bool dir){\n if (dir==1){\n digitalWrite(dir_pin, LOW);\n }\n else{\n digitalWrite(dir_pin, HIGH);\n }\n delayMicroseconds(5);\n for (int i = 1; i <= step_offset; i++) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n }\n}\n\nbool Endstop::state(){\n bState = digitalRead(min_pin);\n return bState;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.41/endstop.h", "content": "#ifndef ENDSTOP_H_\n#define ENDSTOP_H_\n\nclass Endstop {\n public:\n Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell);\n void home(bool dir);\n bool state();\n\n private:\n int min_pin;\n int dir_pin;\n int step_pin;\n int en_pin;\n int switch_input;\n int home_dwell;\n int step_offset;\n void homeOffset(bool dir);\n bool bState;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.41/equipment.cpp", "content": "#include \"equipment.h\"\n#include \n\nEquipment::Equipment(int equipment_pin){\n pin = equipment_pin;\n pinMode(pin, OUTPUT);\n}\n\nvoid Equipment::cmdOn(){\n digitalWrite(pin, HIGH); \n}\n\nvoid Equipment::cmdOff(){\n digitalWrite(pin, LOW); \n}\n" }, { "path": "arduino_firmware/robotArm_v0.41/equipment.h", "content": "#ifndef EQUIPMENT_H_\n#define EQUIPMENT_H_\n\nclass Equipment {\npublic:\n Equipment(int equipment_pin);\n void cmdOn();\n void cmdOff();\nprivate:\n int pin;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.41/fanControl.cpp", "content": "#include \"fanControl.h\"\n#include \n\n\nFanControl::FanControl(int aPin, int aFanDelay) {\n fan_delay = aFanDelay * 1000;\n nextShutdown = 0;\n pin = aPin;\n pinMode(pin , OUTPUT);\n digitalWrite(pin , LOW);\n state = false;\n}\n\nvoid FanControl::enable(bool value) {\n if (value) {\n state = true;\n digitalWrite(pin, HIGH);\n } else {\n disable();\n }\n}\n\nvoid FanControl::disable() {\n state = false;\n nextShutdown = millis() + fan_delay;\n update();\n}\n\nvoid FanControl::update() {\n if (!state) {\n if (millis() >= nextShutdown) {\n digitalWrite(pin, LOW);\n }\n }\n}\n" }, { "path": "arduino_firmware/robotArm_v0.41/fanControl.h", "content": "#ifndef FANCONTROL_H_\n#define FANCONTROL_H_\n\nclass FanControl {\npublic:\n FanControl(int aPin, int aFanDelay);\n void enable(bool value = true);\n void disable();\n void update();\nprivate:\n bool state;\n int pin;\n long fan_delay;\n long nextShutdown;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.41/interpolation.cpp", "content": "#include \"interpolation.h\"\n#include \"config.h\"\n#include \"queue.h\"\n#include \"logger.h\"\n\nInterpolation::Interpolation(){\n pos_offset.xmm = 0.0;\n pos_offset.ymm = 0.0;\n pos_offset.zmm = 0.0;\n pos_offset.emm = 0.0;\n}\n\n//G92 POSITION OFFSET FUNCTIONS\nvoid Interpolation::setPosOffset(float new_x, float new_y, float new_z, float new_e) {\n pos_offset.xmm = xPosmm - new_x;\n pos_offset.ymm = yPosmm - new_y;\n pos_offset.zmm = zPosmm - new_z;\n pos_offset.emm = ePosmm - new_e;\n Logger::logINFO(\"POSITION OFFSET: [X\" + String(pos_offset.xmm) + \" Y:\" + String(pos_offset.ymm) + \" Z:\" + String(pos_offset.zmm) + \" E:\" + String(pos_offset.emm) + \"]\");\n Logger::logINFO(\"CURRENT POSITION: [X:\"+String(new_x)+\" Y:\"+String(new_y)+\" Z:\"+String(new_z)+\" E:\"+String(new_e)+\"]\");\n}\n\nvoid Interpolation::resetPosOffset(){\n pos_offset.xmm = 0.0;\n pos_offset.ymm = 0.0;\n pos_offset.zmm = 0.0;\n pos_offset.emm = 0.0;\n}\n\nPoint Interpolation::getPosOffset() const {\n return pos_offset;\n}\n\n\nvoid Interpolation::setCurrentPos(float px, float py, float pz, float pe) {\n Point p;\n p.xmm = px;\n p.ymm = py;\n p.zmm = pz;\n p.emm = pe;\n setCurrentPos(p);\n}\n\nvoid Interpolation::setInterpolation(float px, float py, float pz, float pe, float v) {\n Point p;\n p.xmm = px;\n p.ymm = py;\n p.zmm = pz;\n p.emm = pe;\n setInterpolation(p, v);\n}\n\nvoid Interpolation::setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float v) {\n Point p1;\n Point p2;\n p1.xmm = p1x;\n p1.ymm = p1y;\n p1.zmm = p1z;\n p1.emm = p1e;\n p2.xmm = p2x;\n p2.ymm = p2y;\n p2.zmm = p2z;\n p2.emm = p2e;\n setInterpolation(p1, p2, v);\n}\n\nvoid Interpolation::setInterpolation(Point p1, float v) {\n Point p0;\n p0.xmm = xStartmm + xDelta;\n p0.ymm = yStartmm + yDelta;\n p0.zmm = zStartmm + zDelta;\n p0.emm = eStartmm + eDelta;\n setInterpolation(p0, p1, v);\n}\n\nvoid Interpolation::setInterpolation(Point p0, Point p1, float av) {\n v = av; //mm/s\n \n float a = (p1.xmm - p0.xmm);\n float b = (p1.ymm - p0.ymm);\n float c = (p1.zmm - p0.zmm);\n float e = abs(p1.emm - p0.emm);\n float dist = sqrt(a*a + b*b + c*c);\n\n if (dist < e) {\n dist = e; \n }\n\n if (v < 5) { //includes 0 = default value\n v = sqrt(dist) * 10; //set a good value for v\n }\n if (v < 5) {\n v = 5; \n }\n \n tmul = v / dist;\n \n xStartmm = p0.xmm;\n yStartmm = p0.ymm;\n zStartmm = p0.zmm;\n eStartmm = p0.emm;\n \n xDelta = (p1.xmm - p0.xmm);\n yDelta = (p1.ymm - p0.ymm);\n zDelta = (p1.zmm - p0.zmm);\n eDelta = (p1.emm - p0.emm);\n \n state = 0;\n \n startTime = micros();\n}\n\nvoid Interpolation::setCurrentPos(Point p) {\n xStartmm = p.xmm;\n yStartmm = p.ymm;\n zStartmm = p.zmm;\n eStartmm = p.emm;\n xDelta = 0;\n yDelta = 0;\n zDelta = 0;\n eDelta = 0;\n}\n\nvoid Interpolation::updateActualPosition() {\n if (state != 0) {\n return;\n } \n long microsek = micros();\n float t = (microsek - startTime) / 1000000.0;\n float progress;\n switch (SPEED_PROFILE){\n // FLAT SPEED CURVE\n case 0:\n progress = t * tmul;\n if (progress >= 1.0){\n progress = 1.0;\n state = 1;\n }\n break;\n // ARCTAN APPROX\n case 1:\n progress = atan((PI * t * tmul) - (PI * 0.5)) * 0.5 + 0.5;\n if (progress >= 1.0) {\n progress = 1.0; \n state = 1;\n }\n break;\n // COSIN APPROX\n case 2:\n progress = -cos(t * tmul * PI) * 0.5 + 0.5;\n if ((t * tmul) >= 1.0) {\n progress = 1.0; \n state = 1;\n }\n break;\n }\n pos_tracker[X_AXIS] = xStartmm + progress * xDelta;\n pos_tracker[Y_AXIS] = yStartmm + progress * yDelta;\n pos_tracker[Z_AXIS] = zStartmm + progress * zDelta;\n pos_tracker[E_AXIS] = eStartmm + progress * eDelta;\n\n if(isAllowedPosition(pos_tracker)){\n xPosmm = pos_tracker[X_AXIS];\n yPosmm = pos_tracker[Y_AXIS];\n zPosmm = pos_tracker[Z_AXIS];\n ePosmm = pos_tracker[E_AXIS];\n } else {\n pos_tracker[X_AXIS] = xPosmm;\n pos_tracker[Y_AXIS] = yPosmm;\n pos_tracker[Z_AXIS] = zPosmm;\n pos_tracker[E_AXIS] = ePosmm;\n state = 1;\n progress = 1.0;\n xStartmm = xPosmm;\n yStartmm = yPosmm;\n zStartmm = zPosmm;\n eStartmm = ePosmm;\n xDelta = 0;\n yDelta = 0;\n zDelta = 0;\n eDelta = 0;\n }\n //FOR DECIPHERING SPEED CURVE\n //Serial.print(\"xPosmm:\");\n //Serial.print(xPosmm);\n //Serial.print(\" yPosmm:\");\n //Serial.print(yPosmm);\n //Serial.print(\" zPosmm:\");\n //Serial.println(zPosmm);\n}\n\nbool Interpolation::isFinished() const {\n return state != 0; \n}\n\nfloat Interpolation::getXPosmm() const {\n return xPosmm;\n}\n\nfloat Interpolation::getYPosmm() const {\n return yPosmm;\n}\n\nfloat Interpolation::getZPosmm() const {\n return zPosmm;\n}\n\nfloat Interpolation::getEPosmm() const {\n return ePosmm;\n}\n\nPoint Interpolation::getPosmm() const {\n Point p;\n p.xmm = xPosmm;\n p.ymm = yPosmm;\n p.zmm = zPosmm;\n p.emm = ePosmm;\n return p;\n}\n\nbool Interpolation::isAllowedPosition(float pos_tracker[4]) {\n float rrot_ee = hypot(pos_tracker[X_AXIS], pos_tracker[Y_AXIS]);\n float rrot = rrot_ee - END_EFFECTOR_OFFSET; \n float rrot_x = rrot * (pos_tracker[Y_AXIS] / rrot_ee);\n float rrot_y = rrot * (pos_tracker[X_AXIS] / rrot_ee);\n float squaredPositionModule = sq(rrot_x) + sq(rrot_y) + sq(pos_tracker[Z_AXIS]); \n\n bool retVal = (\n squaredPositionModule <= sq(R_MAX) \n && squaredPositionModule >= sq(R_MIN) \n && pos_tracker[Z_AXIS] >= Z_MIN \n && pos_tracker[Z_AXIS] <= Z_MAX \n && pos_tracker[E_AXIS] <= RAIL_LENGTH\n );\n if(!retVal) {\n Logger::logERROR(\"LIMIT REACHED: [X:\" + String(pos_tracker[X_AXIS]) + \" Y:\" + String(pos_tracker[Y_AXIS]) + \" Z:\" + String(pos_tracker[Z_AXIS]) + \" E:\" + String(pos_tracker[E_AXIS]) + \"]\");\n }\n return retVal;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.41/interpolation.h", "content": "#ifndef INTERPOLATION_H_\n#define INTERPOLATION_H_\n#include \n\n#define X_AXIS 0\n#define Y_AXIS 1\n#define Z_AXIS 2\n#define E_AXIS 3\n\nstruct Point {\n float xmm;\n float ymm;\n float zmm;\n float emm;\n};\nclass Interpolation {\npublic:\n //void resetInterpolation(float px, float py, float pz);\n //void resetInterpolation(float p1x, float p1y, float p1z, float p2x, float p2y, float p2z);\n //void resetInterpolation(Point p0, Point p1);\n Interpolation();\n void setCurrentPos(float px, float py, float pz, float pe);\n void setInterpolation(float px, float py, float pz, float pe, float v = 0);\n void setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float av = 0);\n \n void setCurrentPos(Point p);\n void setInterpolation(Point p1, float v = 0);\n void setInterpolation(Point p0, Point p1, float v = 0);\n \n void updateActualPosition();\n bool isFinished() const;\n \n float getXPosmm() const;\n float getYPosmm() const;\n float getZPosmm() const;\n float getEPosmm() const;\n Point getPosmm() const;\n bool isAllowedPosition(float pos_tracker[4]);\n void setPosOffset(float new_x, float new_y, float new_z, float new_e);\n void resetPosOffset();\n Point getPosOffset() const;\n\nprivate:\n Point pos_offset;\n float pos_tracker[4];\n byte state;\n \n long startTime; \n \n float xStartmm;\n float yStartmm;\n float zStartmm;\n float eStartmm;\n float xDelta;\n float yDelta;\n float zDelta;\n float eDelta;\n float xPosmm;\n float yPosmm;\n float zPosmm;\n float ePosmm;\n float v;\n float tmul;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.41/logger.cpp", "content": "#include \"logger.h\"\n#include \"config.h\"\n\nvoid Logger::log(String message, int level) {\n if(LOG_LEVEL >= level) {\n switch(level) {\n case LOG_ERROR:\n Serial.print(\"ERROR: \");\n break;\n case LOG_INFO:\n Serial.print(\"INFO: \");\n break;\n case LOG_DEBUG:\n Serial.print(\"DEBUG: \");\n break;\n }\n Serial.println(message);\n }\n}\nvoid Logger::logERROR(String message) {\n log(message, LOG_ERROR);\n}\nvoid Logger::logINFO(String message) {\n log(message, LOG_INFO);\n}\nvoid Logger::logDEBUG(String message) {\n log(message, LOG_DEBUG);\n}" }, { "path": "arduino_firmware/robotArm_v0.41/logger.h", "content": "#ifndef LOGGER_H_\n#define LOGGER_H_\n\n#include \n\n#define LOG_ERROR 0\n#define LOG_INFO 1\n#define LOG_DEBUG 2\n\nclass Logger {\n public:\n static void log(String message, int level);\n static void logINFO(String message);\n static void logERROR(String message);\n static void logDEBUG(String message);\n};\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.41/pinout.h", "content": "#ifndef PINOUT_H_\n#define PINOUT_H_\n\n/*\n * pinout of RAMPS 1.4\n *\n * source: http://reprap.org/wiki/RAMPS_1.4\n */\n\n//RAMPS 1.4 PINS\n#define X_STEP_PIN 54\n#define X_DIR_PIN 55\n#define X_ENABLE_PIN 38\n#define X_MIN_PIN 3\n#define X_MAX_PIN 2\n \n#define Y_STEP_PIN 60\n#define Y_DIR_PIN 61\n#define Y_ENABLE_PIN 56\n#define Y_MIN_PIN 14\n#define Y_MAX_PIN 15\n\n#define Z_STEP_PIN 46\n#define Z_DIR_PIN 48\n#define Z_ENABLE_PIN 62\n#define Z_MIN_PIN 18\n#define Z_MAX_PIN 19\n\n#define E0_STEP_PIN 26\n#define E0_DIR_PIN 28\n#define E0_ENABLE_PIN 24\n#define E0_MIN_PIN 20\n\n#define E1_STEP_PIN 36\n#define E1_DIR_PIN 34\n#define E1_ENABLE_PIN 30\n\n#define BYJ_PIN_0 40\n#define BYJ_PIN_1 63\n#define BYJ_PIN_2 59\n#define BYJ_PIN_3 64\n\n#define PUMP_PIN 8\n#define LASER_PIN 10\n#define LED_PIN 13\n\n#define SDPOWER -1\n#define SDSS 53\n\n#define FAN_PIN 9\n\n#define PS_ON_PIN 12\n#define KILL_PIN -1\n\n//#define HEATER_0_PIN 10\n//#define HEATER_1_PIN 8\n#define TEMP_0_PIN 13 // ANALOG NUMBERING\n#define TEMP_1_PIN 14 // ANALOG NUMBERING\n\n//RAMPS AUX-2\n\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.41/queue.h", "content": "#ifndef QUEUE_H_\n#define QUEUE_H_\n\ntemplate class Queue {\npublic:\n Queue(int alen);\n ~Queue();\n bool push(Element elem);\n Element pop();\n bool isFull() const;\n bool isEmpty() const;\n int getFreeSpace() const;\n int getMaxLength() const;\n inline int getUsedSpace() const;\nprivate:\n Queue(Queue& q); //copy const.\n Element* data;\n int len;\n int start;\n int count;\n};\n\ntemplate \nQueue::Queue(int alen) {\n data = new Element[alen];\n len = alen;\n start = 0;\n count = 0;\n}\n\ntemplate \nQueue::~Queue() {\n delete data;\n}\n\ntemplate \nQueue::Queue(Queue& q) {\n //nothing ever is allowed to do something here\n}\n\ntemplate \nbool Queue::push(Element elem) {\n data[(start + count++) % len] = elem;\n}\n\ntemplate \nElement Queue::pop() {\n count--;\n int s = start;\n start = (start + 1) % len;\n return data[(s) % len];\n}\n\ntemplate \nbool Queue::isFull() const {\n return count >= len;\n}\n\ntemplate \nbool Queue::isEmpty() const {\n return count <= 0;\n}\n\ntemplate \nint Queue::getFreeSpace() const {\n return len - count;\n}\n\ntemplate \nint Queue::getMaxLength() const {\n return len;\n}\n\ntemplate \nint Queue::getUsedSpace() const {\n return count;\n}\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.41/robotArm_v0.41.ino", "content": "//20SFFACTORY COMMUNITY ROBOT FIRMWARE v0.41\n//V0.31 WITH G92, M114, LOGGER, LIMIT_CHECK FUNCTIONS\n//V0.41 WITH DUAL SHANK LENGTH SUPPORT\n\n#include \"config.h\"\n#include \"pinout.h\"\n#include \"logger.h\"\n\n#include \n\n#include \"robotGeometry.h\"\n#include \"interpolation.h\"\n#include \"fanControl.h\"\n#include \"RampsStepper.h\"\n#include \"queue.h\"\n#include \"command.h\"\n#include \"byj_gripper.h\"\n#include \"equipment.h\"\n#include \"endstop.h\"\n\n//STEPPER OBJECTS\nRampsStepper stepperHigher(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, INVERSE_X_STEPPER);\nRampsStepper stepperLower(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, INVERSE_Y_STEPPER);\nRampsStepper stepperRotate(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, INVERSE_Z_STEPPER);\n\n//RAIL OBJECTS\nRampsStepper stepperRail(E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, INVERSE_E0_STEPPER);\nEndstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL);\n\n//ENDSTOP OBJECTS\nEndstop endstopX(X_MIN_PIN, X_DIR_PIN, X_STEP_PIN, X_ENABLE_PIN, X_MIN_INPUT, X_HOME_STEPS, HOME_DWELL);\nEndstop endstopY(Y_MIN_PIN, Y_DIR_PIN, Y_STEP_PIN, Y_ENABLE_PIN, Y_MIN_INPUT, Y_HOME_STEPS, HOME_DWELL);\nEndstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL);\n\n//EQUIPMENT OBJECTS\nBYJ_Gripper byj_gripper(BYJ_PIN_0, BYJ_PIN_1, BYJ_PIN_2, BYJ_PIN_3, GRIP_STEPS);\nEquipment laser(LASER_PIN);\nEquipment pump(PUMP_PIN);\nEquipment led(LED_PIN);\nFanControl fan(FAN_PIN, FAN_DELAY);\n\n//EXECUTION & COMMAND OBJECTS\nRobotGeometry geometry(END_EFFECTOR_OFFSET, LOW_SHANK_LENGTH, HIGH_SHANK_LENGTH);\nInterpolation interpolator;\nQueue queue(QUEUE_SIZE);\nCommand command;\n\nvoid setup()\n{\n Serial.begin(BAUD);\n stepperHigher.setPositionRad(PI / 2.0); // 90°\n stepperLower.setPositionRad(0); // 0°\n stepperRotate.setPositionRad(0); // 0°\n stepperRail.setPosition(0);\n if (HOME_ON_BOOT) { //HOME DURING SETUP() IF HOME_ON_BOOT ENABLED\n homeSequence(); \n Logger::logINFO(\"ROBOT ONLINE\");\n } else {\n setStepperEnable(false); //ROBOT ADJUSTABLE BY HAND AFTER TURNING ON\n if (HOME_X_STEPPER && HOME_Y_STEPPER && !HOME_Z_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"ROTATE ROBOT TO FACE FRONT CENTRE & SEND G28 TO CALIBRATE\");\n }\n if (HOME_X_STEPPER && HOME_Y_STEPPER && HOME_Z_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"SEND G28 TO CALIBRATE\");\n }\n if (!HOME_X_STEPPER && !HOME_Y_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"HOME ROBOT MANUALLY & SEND G28 TO CALIBRATE\");\n }\n }\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n}\n\nvoid loop() {\n interpolator.updateActualPosition();\n geometry.set(interpolator.getXPosmm(), interpolator.getYPosmm(), interpolator.getZPosmm());\n stepperRotate.stepToPositionRad(geometry.getRotRad());\n stepperLower.stepToPositionRad(geometry.getLowRad());\n stepperHigher.stepToPositionRad(geometry.getHighRad());\n if (RAIL){\n stepperRail.stepToPositionMM(interpolator.getEPosmm(), STEPS_PER_MM_RAIL);\n }\n stepperRotate.update();\n stepperLower.update();\n stepperHigher.update();\n if (RAIL){\n stepperRail.update();\n }\n fan.update();\n if (!queue.isFull()) {\n if (command.handleGcode()) {\n queue.push(command.getCmd());\n }\n }\n if ((!queue.isEmpty()) && interpolator.isFinished()) {\n executeCommand(queue.pop());\n if (PRINT_REPLY) {Serial.println(PRINT_REPLY_MSG);}\n }\n\n if (millis() % 500 < 250) {\n led.cmdOn();\n }\n else {\n led.cmdOff();\n }\n}\n\nvoid executeCommand(Cmd cmd) {\n\n if (cmd.id == -1) {\n printErr();\n return;\n }\n\n if (cmd.id == 'G') {\n switch (cmd.num) {\n case 0:\n case 1:\n fan.enable(true);\n Point posoffset;\n posoffset = interpolator.getPosOffset(); \n cmdMove(cmd, interpolator.getPosmm(), posoffset, command.isRelativeCoord);\n interpolator.setInterpolation(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE, cmd.valueF);\n Logger::logINFO(\"LINEAR MOVE: X\" + String(cmd.valueX-posoffset.xmm) + \" Y\" + String(cmd.valueY-posoffset.ymm) + \" Z\" + String(cmd.valueZ-posoffset.zmm) + \" E\" + String(cmd.valueE-posoffset.emm));\n break;\n case 4: cmdDwell(cmd); break;\n case 28: homeSequence(); break;\n case 90: command.cmdToAbsolute(); break; // ABSOLUTE COORDINATE MODE\n case 91: command.cmdToRelative(); break; // RELATIVE COORDINATE MODE\n case 92: \n interpolator.resetPosOffset();\n cmdMove(cmd, interpolator.getPosmm(), interpolator.getPosOffset(), false);\n interpolator.setPosOffset(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE);\n break;\n default: printErr();\n }\n }\n else if (cmd.id == 'M') {\n switch (cmd.num) {\n case 1: pump.cmdOn(); break;\n case 2: pump.cmdOff(); break;\n case 3: byj_gripper.cmdOn(); break;\n case 5: byj_gripper.cmdOff(); break;\n case 6: laser.cmdOn(); break;\n case 7: laser.cmdOff(); break;\n case 17: setStepperEnable(true); break;\n case 18: setStepperEnable(false); break;\n case 106: fan.enable(true); break;\n case 107: fan.enable(false); break;\n case 114: command.cmdGetPosition(interpolator.getPosmm(), interpolator.getPosOffset(), stepperHigher.getPosition(), stepperLower.getPosition(), stepperRotate.getPosition()); break;// Return the current positions of all axis \n case 119: \n Logger::logINFO(\"ENDSTOP STATE: [UPPER_SHANK(X):\"+String(endstopX.state())+\" LOWER_SHANK(Y):\"+String(endstopY.state())+\" ROTATE_GEAR(Z):\"+String(endstopZ.state())+\"]\");\n break;\n default: printErr();\n }\n }\n else {\n printErr();\n }\n}\n\nvoid setStepperEnable(bool enable){\n stepperRotate.enable(enable);\n stepperLower.enable(enable);\n stepperHigher.enable(enable);\n if(RAIL){\n stepperRail.enable(enable);\n }\n fan.enable(enable);\n}\n\nvoid homeSequence(){\n setStepperEnable(false);\n fan.enable(true);\n if (HOME_Y_STEPPER){\n endstopY.home(!INVERSE_Y_STEPPER); //INDICATE STEPPER HOMING DIRECTION\n }\n if (HOME_X_STEPPER){\n endstopX.home(!INVERSE_X_STEPPER); //INDICATE STEPPER HOMING DIRECTION\n }\n if (HOME_Z_STEPPER){\n endstopZ.home(INVERSE_Z_STEPPER); //INDICATE STEPPER HOMING DIRECDTION\n }\n if (RAIL){\n if (HOME_E0_STEPPER){\n endstopE0.home(!INVERSE_E0_STEPPER); //\n }\n }\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n Logger::logINFO(\"HOMING COMPLETE\");\n}\n" }, { "path": "arduino_firmware/robotArm_v0.41/robotGeometry.cpp", "content": "#include \"robotGeometry.h\"\n\n#include \n#include \n\nRobotGeometry::RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_shank_length) {\n ee_offset = a_ee_offset;\n low_shank_length = a_low_shank_length;\n high_shank_length = a_high_shank_length;\n}\n\nvoid RobotGeometry::set(float axmm, float aymm, float azmm) {\n xmm = axmm;\n ymm = aymm;\n zmm = azmm; \n calculateGrad();\n}\n\nfloat RobotGeometry::getXmm() const {\n return xmm;\n}\n\nfloat RobotGeometry::getYmm() const {\n return ymm;\n}\n\nfloat RobotGeometry::getZmm() const {\n return zmm;\n}\n\nfloat RobotGeometry::getRotRad() const {\n return rot;\n}\n\nfloat RobotGeometry::getLowRad() const {\n return low;\n}\n\nfloat RobotGeometry::getHighRad() const {\n return high;\n}\n\nvoid RobotGeometry::calculateGrad() {\n float rrot_ee = hypot(xmm, ymm); \n float rrot = rrot_ee - ee_offset; //radius from Top View\n float rside = hypot(rrot, zmm); //radius from Side View. Use rrot instead of ymm..for everything\n float rside_2 = sq(rside);\n float low_2 = sq(low_shank_length);\n float high_2 = sq(high_shank_length);\n \n rot = asin(xmm / rrot_ee);\n high = PI - acos((low_2 + high_2 - rside_2) / (2 * low_shank_length * high_shank_length));\n\n //Angle of Lower Stepper Motor (asin()=Angle To Gripper)\n if (zmm > 0) {\n low = acos(zmm / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside));\n } else {\n low = PI - asin(rrot / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside));\n }\n high = high + low;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.41/robotGeometry.h", "content": "#ifndef ROBOTGEOMETRY_H_\n#define ROBOTGEOMETRY_H_\n\nclass RobotGeometry {\npublic:\n RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_length);\n void set(float axmm, float aymm, float azmm);\n float getXmm() const;\n float getYmm() const;\n float getZmm() const;\n float getRotRad() const;\n float getLowRad() const;\n float getHighRad() const;\nprivate:\n void calculateGrad();\n float ee_offset;\n float low_shank_length;\n float high_shank_length;\n float xmm;\n float ymm;\n float zmm;\n float rot;\n float low;\n float high;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.51/RampsStepper.cpp", "content": "#include \"RampsStepper.h\"\n#include \"config.h\"\n\n#include \n\nRampsStepper::RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse) {\n setReductionRatio(MAIN_GEAR_TEETH / MOTOR_GEAR_TEETH, MICROSTEPS * STEPS_PER_REV);\n stepPin = aStepPin;\n dirPin = aDirPin;\n enablePin = aEnablePin;\n inverse = aInverse;\n stepperStepPosition = 0;\n stepperStepTargetPosition;\n pinMode(stepPin, OUTPUT);\n pinMode(dirPin, OUTPUT);\n pinMode(enablePin, OUTPUT);\n enable(false);\n}\n\nvoid RampsStepper::enable(bool value) {\n digitalWrite(enablePin, !value);\n}\n\nbool RampsStepper::isOnPosition() const {\n return stepperStepPosition == stepperStepTargetPosition;\n}\n\nint RampsStepper::getPosition() const {\n return stepperStepPosition;\n}\n\nvoid RampsStepper::setPosition(int value) {\n stepperStepPosition = value;\n stepperStepTargetPosition = value;\n}\n\nvoid RampsStepper::stepToPosition(int value) {\n stepperStepTargetPosition = value;\n}\n\nvoid RampsStepper::stepToPositionMM(float mm, float steps_per_mm) {\n stepperStepTargetPosition = mm * steps_per_mm;\n}\n\nvoid RampsStepper::stepRelative(int value) {\n value += stepperStepPosition;\n stepToPosition(value);\n}\n\nfloat RampsStepper::getPositionRad() const {\n return stepperStepPosition / radToStepFactor;\n}\n\nvoid RampsStepper::setPositionRad(float rad) {\n setPosition(rad * radToStepFactor);\n}\n\nvoid RampsStepper::stepToPositionRad(float rad) {\n stepperStepTargetPosition = rad * radToStepFactor;\n}\n\nvoid RampsStepper::stepRelativeRad(float rad) {\n stepRelative(rad * radToStepFactor);\n}\n\nvoid RampsStepper::update() { \n while (stepperStepTargetPosition < stepperStepPosition) { \n digitalWrite(dirPin, !inverse);\n digitalWrite(stepPin, HIGH);\n digitalWrite(stepPin, LOW);\n stepperStepPosition--;\n }\n \n while (stepperStepTargetPosition > stepperStepPosition) { \n digitalWrite(dirPin, inverse);\n digitalWrite(stepPin, HIGH);\n digitalWrite(stepPin, LOW);\n stepperStepPosition++;\n }\n}\n\nvoid RampsStepper::setReductionRatio(float gearRatio, int stepsPerRev) {\n radToStepFactor = gearRatio * stepsPerRev / 2 / PI;\n};\n" }, { "path": "arduino_firmware/robotArm_v0.51/RampsStepper.h", "content": "#ifndef RAMPSSTEPPER_H_\n#define RAMPSSTEPPER_H_\n\nclass RampsStepper {\npublic:\n RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse);\n void enable(bool value = true);\n \n bool isOnPosition() const;\n int getPosition() const;\n void setPosition(int value);\n void stepToPosition(int value);\n void stepToPositionMM(float mm, float steps_per_mm);\n void stepRelative(int value);\n float getPositionRad() const;\n void setPositionRad(float rad);\n void stepToPositionRad(float rad);\n void stepRelativeRad(float rad);\n \n void update();\n \n void setReductionRatio(float gearRatio, int stepsPerRev);\nprivate:\n int stepperStepTargetPosition;\n int stepperStepPosition;\n int stepPin;\n int dirPin;\n int enablePin; \n bool inverse;\n float radToStepFactor;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.51/byj_gripper.cpp", "content": "#include \"byj_gripper.h\"\n#include \n\nBYJ_Gripper::BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps){\n grip_steps = steps;\n byj_pin_0 = pin0;\n byj_pin_1 = pin1;\n byj_pin_2 = pin2;\n byj_pin_3 = pin3;\n step_cycle = 0;\n pinMode(byj_pin_0, OUTPUT);\n pinMode(byj_pin_1, OUTPUT);\n pinMode(byj_pin_2, OUTPUT);\n pinMode(byj_pin_3, OUTPUT);\n}\n\nvoid BYJ_Gripper::cmdOn() {\n direction = true;\n for (int i = 1; i <= grip_steps; i++) {\n moveSteps();\n delay(1);\n }\n}\n\nvoid BYJ_Gripper::cmdOff() {\n direction = false;\n for (int i = 1; i <= grip_steps; i++) {\n moveSteps();\n delay(1);\n }\n}\n\nvoid BYJ_Gripper::setDirection(){\n if (direction == true) {\n step_cycle++;\n }\n if (direction == false) {\n step_cycle--;\n }\n if (step_cycle > 7) {\n step_cycle = 0;\n }\n if (step_cycle < 0) {\n step_cycle = 7;\n }\n}\n\nvoid BYJ_Gripper::moveSteps() {\n switch (step_cycle) {\n case 0:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, HIGH);\n break;\n case 1:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, HIGH);\n break;\n case 2:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 3:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 4:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 5:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 6:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 7:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, HIGH);\n break;\n default:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n }\n setDirection();\n}\n" }, { "path": "arduino_firmware/robotArm_v0.51/byj_gripper.h", "content": "#ifndef BYJ_GRIPPER_H_\n#define BYJ_GRIPPER_H_\n\n\nclass BYJ_Gripper {\npublic:\n BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps);\n void cmdOn();\n void cmdOff();\nprivate:\n bool direction;\n void moveSteps();\n void setDirection();\n int byj_pin_0;\n int byj_pin_1;\n int byj_pin_2;\n int byj_pin_3;\n int grip_steps;\n int step_cycle;\n};\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.51/command.cpp", "content": "#include \"command.h\"\n#include \"logger.h\"\n#include \n\nCommand::Command() {\n //initialize Command to a zero-move value;\n new_command.valueX = NAN; \n new_command.valueY = NAN;\n new_command.valueZ = NAN;\n new_command.valueF = 0;\n new_command.valueE = NAN;\n new_command.valueS = 0;\n message = \"\";\n isRelativeCoord = false;\n}\n\nbool Command::handleGcode() {\n if (Serial.available()) {\n char c = Serial.read();\n if (c == '\\n') {\n return false; \n }\n if (c == '\\r') {\n bool b = processMessage(message);\n message = \"\";\n return b;\n } else {\n message += c; \n }\n }\n return false;\n}\n\nbool Command::processMessage(String msg){\n\n new_command.valueX = NAN; \n new_command.valueY = NAN;\n new_command.valueZ = NAN;\n new_command.valueE = NAN;\n new_command.valueF = 0;\n new_command.valueS = 0; \n msg.toUpperCase();\n msg.replace(\" \", \"\");\n int active_index = 0;\n new_command.id = msg[active_index];\n if((new_command.id != 'G') && (new_command.id != 'M')){\n printErr();\n return false;\n }\n\n active_index++;\n int temp_index = active_index;\n while (temp_index\n#include \"interpolation.h\"\n\nstruct Cmd {\n char id;\n int num;\n float valueX;\n float valueY;\n float valueZ;\n float valueF;\n float valueE;\n float valueS; \n};\n\nclass Command {\n public:\n Command();\n bool handleGcode();\n bool processMessage(String msg);\n void value_segment(String msg_segment);\n Cmd getCmd() const;\n void cmdGetPosition(Point pos, Point pos_offset, float highRad, float lowRad, float rotRad);\n void cmdToRelative();\n void cmdToAbsolute();\n bool isRelativeCoord;\n Cmd new_command;\n\n private: \n String message;\n};\n\nvoid cmdMove(Cmd(&cmd), Point pos, Point pos_offset, bool isRelativeCoord);\nvoid cmdDwell(Cmd(&cmd));\nvoid printErr();\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.51/config.h", "content": "#ifndef CONFIG_H_\n#define CONFIG_H_\n\n//SERIAL SETTINGS\n#define BAUD 115200\n\n//ROBOT ARM LENGTH\n//#define SHANK_LENGTH 140.0\n#define LOW_SHANK_LENGTH 120.0\n#define HIGH_SHANK_LENGTH 120.0\n\n#define END_EFFECTOR_OFFSET 54.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM\n\n//INITIAL INTERPOLATION SETTINGS\n// INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES\n#define INITIAL_X 0.0 // CARTESIAN COORDINATE X \n#define INITIAL_Y (HIGH_SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y\n#define INITIAL_Z LOW_SHANK_LENGTH // CARTESIAN COORDINATE Z\n\n#define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION \n\n// CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS\n#define X_HOME_STEPS 820 //765 //860 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM\n#define Y_HOME_STEPS 1850 //1940 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM\n#define Z_HOME_STEPS 3600 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER\n#define E0_HOME_STEPS 0 // STEPS FROM E0_ENDSTOP TO INITIAL_E0\n\n//HOMING SETTINGS:\n#define HOME_X_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Y_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Z_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_E0_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_ON_BOOT false // \"true\" IF HOMING REQUIRED AFTER POWER ON\n#define HOME_DWELL 1400 // INCREASE TO SLOW DOWN HOMING SPEED\n\n//STEPPER SETTINGS:\n#define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4\n#define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION\n#define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n\n//RAIL SETTINGS:\n#define RAIL true // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY.\n#define STEPS_PER_MM_RAIL 80.0 // STEPS PER MM FOR RAIL MOTOR\n#define RAIL_LENGTH 200.0 // MAX LENGTH OF RAIL IN MM\n\n//ENDSTOP SETTINGS:\n#define X_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define Y_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define Z_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define E0_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n\n//GEAR RATIO SETTINGS\n#define MOTOR_GEAR_TEETH 20.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION\n#define MAIN_GEAR_TEETH 90.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION\n\n//EQUIPMENT SETTINGS\n#define LASER false // 12V LASER CONNECTED TO LASER_PIN\n#define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN\n#define FAN_DELAY 120 // FAN ON IN SECONDS\n\n//GRIPPER SETTINGS\n#define GRIPPER 1 //GRIPPER MOTOR IN USE\n // 0: 28BYJ-48 MICRO STEPPER MOTOR\n // 1: 9G SERVO OR MG996 SERVO EQUIVALENT\n//28BYJ GRIPPER SETTINGS\n#define BYJ_GRIP_STEPS 1200 //FTOBLER: 1200\n//SERVO GRIPPER SETTINGS\n#define SERVO_GRIP_DEGREE 90.0\n#define SERVO_UNGRIP_DEGREE 0.0\n\n//COMMAND QUEUE SETTINGS\n#define QUEUE_SIZE 15\n\n//PRINT REPLY SETTING\n#define PRINT_REPLY false // \"true\" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED\n#define PRINT_REPLY_MSG \"ok\" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE\n\n//SPEED PROFILE SETTING\n#define SPEED_PROFILE 2 // OPTIONS BELOW\n//0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE)\n//1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION)\n//2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL FROM 0, SUITABLE FOR PRESET COMMAND MOVEMENTS)\n\n//LOG SETTINGS\n#define LOG_LEVEL 2\n//0: ERROR\n//1: INFO\n//2: DEBUG\n\n//MOVE LIMIT PARAMETERS\n#define Z_MIN -140.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND\n#define Z_MAX (LOW_SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX\n#define SHANKS_MIN_ANGLE_COS 0.791436948 \n#define SHANKS_MAX_ANGLE_COS -0.774944489 \n#define R_MIN (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MIN_ANGLE_COS) ))\n#define R_MAX (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MAX_ANGLE_COS) ))\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.51/endstop.cpp", "content": "#include \"endstop.h\"\n#include \n\nEndstop::Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell){\n min_pin = a_min_pin;\n dir_pin = a_dir_pin;\n step_pin = a_step_pin;\n en_pin = a_en_pin;\n switch_input = a_switch_input;\n home_dwell = a_home_dwell;\n step_offset = a_step_offset;\n pinMode(min_pin, INPUT_PULLUP);\n}\n\nvoid Endstop::home(bool dir) {\n digitalWrite(en_pin, LOW);\n delayMicroseconds(5);\n if (dir==1){\n digitalWrite(dir_pin, HIGH);\n }\n else {\n digitalWrite(dir_pin, LOW);\n }\n delayMicroseconds(5);\n bState = digitalRead(min_pin);\n while (bState != switch_input) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n bState = digitalRead(min_pin);\n }\n homeOffset(dir);\n}\n\nvoid Endstop::homeOffset(bool dir){\n if (dir==1){\n digitalWrite(dir_pin, LOW);\n }\n else{\n digitalWrite(dir_pin, HIGH);\n }\n delayMicroseconds(5);\n for (int i = 1; i <= step_offset; i++) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n }\n}\n\nbool Endstop::state(){\n bState = digitalRead(min_pin);\n return bState;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.51/endstop.h", "content": "#ifndef ENDSTOP_H_\n#define ENDSTOP_H_\n\nclass Endstop {\n public:\n Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell);\n void home(bool dir);\n bool state();\n\n private:\n int min_pin;\n int dir_pin;\n int step_pin;\n int en_pin;\n int switch_input;\n int home_dwell;\n int step_offset;\n void homeOffset(bool dir);\n bool bState;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.51/equipment.cpp", "content": "#include \"equipment.h\"\n#include \n\nEquipment::Equipment(int equipment_pin){\n pin = equipment_pin;\n pinMode(pin, OUTPUT);\n}\n\nvoid Equipment::cmdOn(){\n digitalWrite(pin, HIGH); \n}\n\nvoid Equipment::cmdOff(){\n digitalWrite(pin, LOW); \n}\n" }, { "path": "arduino_firmware/robotArm_v0.51/equipment.h", "content": "#ifndef EQUIPMENT_H_\n#define EQUIPMENT_H_\n\nclass Equipment {\npublic:\n Equipment(int equipment_pin);\n void cmdOn();\n void cmdOff();\nprivate:\n int pin;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.51/fanControl.cpp", "content": "#include \"fanControl.h\"\n#include \n\n\nFanControl::FanControl(int aPin, int aFanDelay) {\n fan_delay = aFanDelay * 1000;\n nextShutdown = 0;\n pin = aPin;\n pinMode(pin , OUTPUT);\n digitalWrite(pin , LOW);\n state = false;\n}\n\nvoid FanControl::enable(bool value) {\n if (value) {\n state = true;\n digitalWrite(pin, HIGH);\n } else {\n disable();\n }\n}\n\nvoid FanControl::disable() {\n state = false;\n nextShutdown = millis() + fan_delay;\n update();\n}\n\nvoid FanControl::update() {\n if (!state) {\n if (millis() >= nextShutdown) {\n digitalWrite(pin, LOW);\n }\n }\n}\n" }, { "path": "arduino_firmware/robotArm_v0.51/fanControl.h", "content": "#ifndef FANCONTROL_H_\n#define FANCONTROL_H_\n\nclass FanControl {\npublic:\n FanControl(int aPin, int aFanDelay);\n void enable(bool value = true);\n void disable();\n void update();\nprivate:\n bool state;\n int pin;\n long fan_delay;\n long nextShutdown;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.51/interpolation.cpp", "content": "#include \"interpolation.h\"\n#include \"config.h\"\n#include \"queue.h\"\n#include \"logger.h\"\n\nInterpolation::Interpolation(){\n pos_offset.xmm = 0.0;\n pos_offset.ymm = 0.0;\n pos_offset.zmm = 0.0;\n pos_offset.emm = 0.0;\n}\n\n//G92 POSITION OFFSET FUNCTIONS\nvoid Interpolation::setPosOffset(float new_x, float new_y, float new_z, float new_e) {\n pos_offset.xmm = xPosmm - new_x;\n pos_offset.ymm = yPosmm - new_y;\n pos_offset.zmm = zPosmm - new_z;\n pos_offset.emm = ePosmm - new_e;\n Logger::logINFO(\"POSITION OFFSET: [X\" + String(pos_offset.xmm) + \" Y:\" + String(pos_offset.ymm) + \" Z:\" + String(pos_offset.zmm) + \" E:\" + String(pos_offset.emm) + \"]\");\n Logger::logINFO(\"CURRENT POSITION: [X:\"+String(new_x)+\" Y:\"+String(new_y)+\" Z:\"+String(new_z)+\" E:\"+String(new_e)+\"]\");\n}\n\nvoid Interpolation::resetPosOffset(){\n pos_offset.xmm = 0.0;\n pos_offset.ymm = 0.0;\n pos_offset.zmm = 0.0;\n pos_offset.emm = 0.0;\n}\n\nPoint Interpolation::getPosOffset() const {\n return pos_offset;\n}\n\n\nvoid Interpolation::setCurrentPos(float px, float py, float pz, float pe) {\n Point p;\n p.xmm = px;\n p.ymm = py;\n p.zmm = pz;\n p.emm = pe;\n setCurrentPos(p);\n}\n\nvoid Interpolation::setInterpolation(float px, float py, float pz, float pe, float v) {\n Point p;\n p.xmm = px;\n p.ymm = py;\n p.zmm = pz;\n p.emm = pe;\n setInterpolation(p, v);\n}\n\nvoid Interpolation::setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float v) {\n Point p1;\n Point p2;\n p1.xmm = p1x;\n p1.ymm = p1y;\n p1.zmm = p1z;\n p1.emm = p1e;\n p2.xmm = p2x;\n p2.ymm = p2y;\n p2.zmm = p2z;\n p2.emm = p2e;\n setInterpolation(p1, p2, v);\n}\n\nvoid Interpolation::setInterpolation(Point p1, float v) {\n Point p0;\n p0.xmm = xStartmm + xDelta;\n p0.ymm = yStartmm + yDelta;\n p0.zmm = zStartmm + zDelta;\n p0.emm = eStartmm + eDelta;\n setInterpolation(p0, p1, v);\n}\n\nvoid Interpolation::setInterpolation(Point p0, Point p1, float av) {\n v = av; //mm/s\n \n float a = (p1.xmm - p0.xmm);\n float b = (p1.ymm - p0.ymm);\n float c = (p1.zmm - p0.zmm);\n float e = abs(p1.emm - p0.emm);\n float dist = sqrt(a*a + b*b + c*c);\n\n if (dist < e) {\n dist = e; \n }\n\n if (v < 5) { //includes 0 = default value\n v = sqrt(dist) * 10; //set a good value for v\n }\n if (v < 5) {\n v = 5; \n }\n \n tmul = v / dist;\n \n xStartmm = p0.xmm;\n yStartmm = p0.ymm;\n zStartmm = p0.zmm;\n eStartmm = p0.emm;\n \n xDelta = (p1.xmm - p0.xmm);\n yDelta = (p1.ymm - p0.ymm);\n zDelta = (p1.zmm - p0.zmm);\n eDelta = (p1.emm - p0.emm);\n \n state = 0;\n \n startTime = micros();\n}\n\nvoid Interpolation::setCurrentPos(Point p) {\n xStartmm = p.xmm;\n yStartmm = p.ymm;\n zStartmm = p.zmm;\n eStartmm = p.emm;\n xDelta = 0;\n yDelta = 0;\n zDelta = 0;\n eDelta = 0;\n}\n\nvoid Interpolation::updateActualPosition() {\n if (state != 0) {\n return;\n } \n long microsek = micros();\n float t = (microsek - startTime) / 1000000.0;\n float progress;\n switch (SPEED_PROFILE){\n // FLAT SPEED CURVE\n case 0:\n progress = t * tmul;\n if (progress >= 1.0){\n progress = 1.0;\n state = 1;\n }\n break;\n // ARCTAN APPROX\n case 1:\n progress = atan((PI * t * tmul) - (PI * 0.5)) * 0.5 + 0.5;\n if (progress >= 1.0) {\n progress = 1.0; \n state = 1;\n }\n break;\n // COSIN APPROX\n case 2:\n progress = -cos(t * tmul * PI) * 0.5 + 0.5;\n if ((t * tmul) >= 1.0) {\n progress = 1.0; \n state = 1;\n }\n break;\n }\n pos_tracker[X_AXIS] = xStartmm + progress * xDelta;\n pos_tracker[Y_AXIS] = yStartmm + progress * yDelta;\n pos_tracker[Z_AXIS] = zStartmm + progress * zDelta;\n pos_tracker[E_AXIS] = eStartmm + progress * eDelta;\n\n if(isAllowedPosition(pos_tracker)){\n xPosmm = pos_tracker[X_AXIS];\n yPosmm = pos_tracker[Y_AXIS];\n zPosmm = pos_tracker[Z_AXIS];\n ePosmm = pos_tracker[E_AXIS];\n } else {\n pos_tracker[X_AXIS] = xPosmm;\n pos_tracker[Y_AXIS] = yPosmm;\n pos_tracker[Z_AXIS] = zPosmm;\n pos_tracker[E_AXIS] = ePosmm;\n state = 1;\n progress = 1.0;\n xStartmm = xPosmm;\n yStartmm = yPosmm;\n zStartmm = zPosmm;\n eStartmm = ePosmm;\n xDelta = 0;\n yDelta = 0;\n zDelta = 0;\n eDelta = 0;\n }\n //FOR DECIPHERING SPEED CURVE\n //Serial.print(\"xPosmm:\");\n //Serial.print(xPosmm);\n //Serial.print(\" yPosmm:\");\n //Serial.print(yPosmm);\n //Serial.print(\" zPosmm:\");\n //Serial.println(zPosmm);\n}\n\nbool Interpolation::isFinished() const {\n return state != 0; \n}\n\nfloat Interpolation::getXPosmm() const {\n return xPosmm;\n}\n\nfloat Interpolation::getYPosmm() const {\n return yPosmm;\n}\n\nfloat Interpolation::getZPosmm() const {\n return zPosmm;\n}\n\nfloat Interpolation::getEPosmm() const {\n return ePosmm;\n}\n\nPoint Interpolation::getPosmm() const {\n Point p;\n p.xmm = xPosmm;\n p.ymm = yPosmm;\n p.zmm = zPosmm;\n p.emm = ePosmm;\n return p;\n}\n\nbool Interpolation::isAllowedPosition(float pos_tracker[4]) {\n float rrot_ee = hypot(pos_tracker[X_AXIS], pos_tracker[Y_AXIS]);\n float rrot = rrot_ee - END_EFFECTOR_OFFSET; \n float rrot_x = rrot * (pos_tracker[Y_AXIS] / rrot_ee);\n float rrot_y = rrot * (pos_tracker[X_AXIS] / rrot_ee);\n float squaredPositionModule = sq(rrot_x) + sq(rrot_y) + sq(pos_tracker[Z_AXIS]); \n\n bool retVal = (\n squaredPositionModule <= sq(R_MAX) \n && squaredPositionModule >= sq(R_MIN) \n && pos_tracker[Z_AXIS] >= Z_MIN \n && pos_tracker[Z_AXIS] <= Z_MAX \n && pos_tracker[E_AXIS] <= RAIL_LENGTH\n );\n if(!retVal) {\n Logger::logERROR(\"LIMIT REACHED: [X:\" + String(pos_tracker[X_AXIS]) + \" Y:\" + String(pos_tracker[Y_AXIS]) + \" Z:\" + String(pos_tracker[Z_AXIS]) + \" E:\" + String(pos_tracker[E_AXIS]) + \"]\");\n }\n return retVal;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.51/interpolation.h", "content": "#ifndef INTERPOLATION_H_\n#define INTERPOLATION_H_\n#include \n\n#define X_AXIS 0\n#define Y_AXIS 1\n#define Z_AXIS 2\n#define E_AXIS 3\n\nstruct Point {\n float xmm;\n float ymm;\n float zmm;\n float emm;\n};\nclass Interpolation {\npublic:\n //void resetInterpolation(float px, float py, float pz);\n //void resetInterpolation(float p1x, float p1y, float p1z, float p2x, float p2y, float p2z);\n //void resetInterpolation(Point p0, Point p1);\n Interpolation();\n void setCurrentPos(float px, float py, float pz, float pe);\n void setInterpolation(float px, float py, float pz, float pe, float v = 0);\n void setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float av = 0);\n \n void setCurrentPos(Point p);\n void setInterpolation(Point p1, float v = 0);\n void setInterpolation(Point p0, Point p1, float v = 0);\n \n void updateActualPosition();\n bool isFinished() const;\n \n float getXPosmm() const;\n float getYPosmm() const;\n float getZPosmm() const;\n float getEPosmm() const;\n Point getPosmm() const;\n bool isAllowedPosition(float pos_tracker[4]);\n void setPosOffset(float new_x, float new_y, float new_z, float new_e);\n void resetPosOffset();\n Point getPosOffset() const;\n\nprivate:\n Point pos_offset;\n float pos_tracker[4];\n byte state;\n \n long startTime; \n \n float xStartmm;\n float yStartmm;\n float zStartmm;\n float eStartmm;\n float xDelta;\n float yDelta;\n float zDelta;\n float eDelta;\n float xPosmm;\n float yPosmm;\n float zPosmm;\n float ePosmm;\n float v;\n float tmul;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.51/logger.cpp", "content": "#include \"logger.h\"\n#include \"config.h\"\n\nvoid Logger::log(String message, int level) {\n if(LOG_LEVEL >= level) {\n switch(level) {\n case LOG_ERROR:\n Serial.print(\"ERROR: \");\n break;\n case LOG_INFO:\n Serial.print(\"INFO: \");\n break;\n case LOG_DEBUG:\n Serial.print(\"DEBUG: \");\n break;\n }\n Serial.println(message);\n }\n}\nvoid Logger::logERROR(String message) {\n log(message, LOG_ERROR);\n}\nvoid Logger::logINFO(String message) {\n log(message, LOG_INFO);\n}\nvoid Logger::logDEBUG(String message) {\n log(message, LOG_DEBUG);\n}" }, { "path": "arduino_firmware/robotArm_v0.51/logger.h", "content": "#ifndef LOGGER_H_\n#define LOGGER_H_\n\n#include \n\n#define LOG_ERROR 0\n#define LOG_INFO 1\n#define LOG_DEBUG 2\n\nclass Logger {\n public:\n static void log(String message, int level);\n static void logINFO(String message);\n static void logERROR(String message);\n static void logDEBUG(String message);\n};\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.51/pinout.h", "content": "#ifndef PINOUT_H_\n#define PINOUT_H_\n\n/*\n * pinout of RAMPS 1.4\n *\n * source: http://reprap.org/wiki/RAMPS_1.4\n */\n\n//RAMPS 1.4 PINS\n#define X_STEP_PIN 54\n#define X_DIR_PIN 55\n#define X_ENABLE_PIN 38\n#define X_MIN_PIN 3\n#define X_MAX_PIN 2\n \n#define Y_STEP_PIN 60\n#define Y_DIR_PIN 61\n#define Y_ENABLE_PIN 56\n#define Y_MIN_PIN 14\n#define Y_MAX_PIN 15\n\n#define Z_STEP_PIN 46\n#define Z_DIR_PIN 48\n#define Z_ENABLE_PIN 62\n#define Z_MIN_PIN 18\n#define Z_MAX_PIN 19\n\n#define E0_STEP_PIN 26\n#define E0_DIR_PIN 28\n#define E0_ENABLE_PIN 24\n#define E0_MIN_PIN 20\n\n#define E1_STEP_PIN 36\n#define E1_DIR_PIN 34\n#define E1_ENABLE_PIN 30\n\n#define BYJ_PIN_0 40\n#define BYJ_PIN_1 63\n#define BYJ_PIN_2 59\n#define BYJ_PIN_3 64\n\n#define SERVO_PIN 4\n\n#define PUMP_PIN 8\n#define LASER_PIN 10\n#define LED_PIN 13\n\n#define SDPOWER -1\n#define SDSS 53\n\n#define FAN_PIN 9\n\n#define PS_ON_PIN 12\n#define KILL_PIN -1\n\n//#define HEATER_0_PIN 10\n//#define HEATER_1_PIN 8\n#define TEMP_0_PIN 13 // ANALOG NUMBERING\n#define TEMP_1_PIN 14 // ANALOG NUMBERING\n\n//RAMPS AUX-2\n\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.51/queue.h", "content": "#ifndef QUEUE_H_\n#define QUEUE_H_\n\ntemplate class Queue {\npublic:\n Queue(int alen);\n ~Queue();\n bool push(Element elem);\n Element pop();\n bool isFull() const;\n bool isEmpty() const;\n int getFreeSpace() const;\n int getMaxLength() const;\n inline int getUsedSpace() const;\nprivate:\n Queue(Queue& q); //copy const.\n Element* data;\n int len;\n int start;\n int count;\n};\n\ntemplate \nQueue::Queue(int alen) {\n data = new Element[alen];\n len = alen;\n start = 0;\n count = 0;\n}\n\ntemplate \nQueue::~Queue() {\n delete data;\n}\n\ntemplate \nQueue::Queue(Queue& q) {\n //nothing ever is allowed to do something here\n}\n\ntemplate \nbool Queue::push(Element elem) {\n data[(start + count++) % len] = elem;\n}\n\ntemplate \nElement Queue::pop() {\n count--;\n int s = start;\n start = (start + 1) % len;\n return data[(s) % len];\n}\n\ntemplate \nbool Queue::isFull() const {\n return count >= len;\n}\n\ntemplate \nbool Queue::isEmpty() const {\n return count <= 0;\n}\n\ntemplate \nint Queue::getFreeSpace() const {\n return len - count;\n}\n\ntemplate \nint Queue::getMaxLength() const {\n return len;\n}\n\ntemplate \nint Queue::getUsedSpace() const {\n return count;\n}\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.51/robotArm_v0.51.ino", "content": "//20SFFACTORY COMMUNITY ROBOT FIRMWARE v0.51\n//V0.31 WITH G92, M114, LOGGER, LIMIT_CHECK FUNCTIONS\n//V0.41 WITH DUAL SHANK LENGTH SUPPORT\n//V0.51 WITH SERVO GRIPPER\n\n#include \"config.h\"\n#include \"pinout.h\"\n#include \"logger.h\"\n\n#include \n\n#include \"robotGeometry.h\"\n#include \"interpolation.h\"\n#include \"fanControl.h\"\n#include \"RampsStepper.h\"\n#include \"queue.h\"\n#include \"command.h\"\n#include \"byj_gripper.h\"\n#include \"servo_gripper.h\"\n#include \"equipment.h\"\n#include \"endstop.h\"\n\n//STEPPER OBJECTS\nRampsStepper stepperHigher(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, INVERSE_X_STEPPER);\nRampsStepper stepperLower(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, INVERSE_Y_STEPPER);\nRampsStepper stepperRotate(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, INVERSE_Z_STEPPER);\n\n//RAIL OBJECTS\nRampsStepper stepperRail(E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, INVERSE_E0_STEPPER);\nEndstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL);\n\n//ENDSTOP OBJECTS\nEndstop endstopX(X_MIN_PIN, X_DIR_PIN, X_STEP_PIN, X_ENABLE_PIN, X_MIN_INPUT, X_HOME_STEPS, HOME_DWELL);\nEndstop endstopY(Y_MIN_PIN, Y_DIR_PIN, Y_STEP_PIN, Y_ENABLE_PIN, Y_MIN_INPUT, Y_HOME_STEPS, HOME_DWELL);\nEndstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL);\n\n//EQUIPMENT OBJECTS\nBYJ_Gripper byj_gripper(BYJ_PIN_0, BYJ_PIN_1, BYJ_PIN_2, BYJ_PIN_3, BYJ_GRIP_STEPS);\nServo_Gripper servo_gripper(SERVO_PIN, SERVO_GRIP_DEGREE, SERVO_UNGRIP_DEGREE);\nEquipment laser(LASER_PIN);\nEquipment pump(PUMP_PIN);\nEquipment led(LED_PIN);\nFanControl fan(FAN_PIN, FAN_DELAY);\n\n//EXECUTION & COMMAND OBJECTS\nRobotGeometry geometry(END_EFFECTOR_OFFSET, LOW_SHANK_LENGTH, HIGH_SHANK_LENGTH);\nInterpolation interpolator;\nQueue queue(QUEUE_SIZE);\nCommand command;\n\nvoid setup()\n{\n Serial.begin(BAUD);\n stepperHigher.setPositionRad(PI / 2.0); // 90°\n stepperLower.setPositionRad(0); // 0°\n stepperRotate.setPositionRad(0); // 0°\n stepperRail.setPosition(0);\n if (HOME_ON_BOOT) { //HOME DURING SETUP() IF HOME_ON_BOOT ENABLED\n homeSequence(); \n Logger::logINFO(\"ROBOT ONLINE\");\n } else {\n setStepperEnable(false); //ROBOT ADJUSTABLE BY HAND AFTER TURNING ON\n if (HOME_X_STEPPER && HOME_Y_STEPPER && !HOME_Z_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"ROTATE ROBOT TO FACE FRONT CENTRE & SEND G28 TO CALIBRATE\");\n }\n if (HOME_X_STEPPER && HOME_Y_STEPPER && HOME_Z_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"SEND G28 TO CALIBRATE\");\n }\n if (!HOME_X_STEPPER && !HOME_Y_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"HOME ROBOT MANUALLY & SEND G28 TO CALIBRATE\");\n }\n }\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n}\n\nvoid loop() {\n interpolator.updateActualPosition();\n geometry.set(interpolator.getXPosmm(), interpolator.getYPosmm(), interpolator.getZPosmm());\n stepperRotate.stepToPositionRad(geometry.getRotRad());\n stepperLower.stepToPositionRad(geometry.getLowRad());\n stepperHigher.stepToPositionRad(geometry.getHighRad());\n if (RAIL){\n stepperRail.stepToPositionMM(interpolator.getEPosmm(), STEPS_PER_MM_RAIL);\n }\n stepperRotate.update();\n stepperLower.update();\n stepperHigher.update();\n if (RAIL){\n stepperRail.update();\n }\n fan.update();\n if (!queue.isFull()) {\n if (command.handleGcode()) {\n queue.push(command.getCmd());\n }\n }\n if ((!queue.isEmpty()) && interpolator.isFinished()) {\n executeCommand(queue.pop());\n if (PRINT_REPLY) {Serial.println(PRINT_REPLY_MSG);}\n }\n\n if (millis() % 500 < 250) {\n led.cmdOn();\n }\n else {\n led.cmdOff();\n }\n}\n\nvoid executeCommand(Cmd cmd) {\n\n if (cmd.id == -1) {\n printErr();\n return;\n }\n\n if (cmd.id == 'G') {\n switch (cmd.num) {\n case 0:\n case 1:\n fan.enable(true);\n Point posoffset;\n posoffset = interpolator.getPosOffset(); \n cmdMove(cmd, interpolator.getPosmm(), posoffset, command.isRelativeCoord);\n interpolator.setInterpolation(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE, cmd.valueF);\n Logger::logINFO(\"LINEAR MOVE: X\" + String(cmd.valueX-posoffset.xmm) + \" Y\" + String(cmd.valueY-posoffset.ymm) + \" Z\" + String(cmd.valueZ-posoffset.zmm) + \" E\" + String(cmd.valueE-posoffset.emm));\n break;\n case 4: cmdDwell(cmd); break;\n case 28: homeSequence(); break;\n case 90: command.cmdToAbsolute(); break; // ABSOLUTE COORDINATE MODE\n case 91: command.cmdToRelative(); break; // RELATIVE COORDINATE MODE\n case 92: \n interpolator.resetPosOffset();\n cmdMove(cmd, interpolator.getPosmm(), interpolator.getPosOffset(), false);\n interpolator.setPosOffset(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE);\n break;\n default: printErr();\n }\n }\n else if (cmd.id == 'M') {\n switch (cmd.num) {\n case 1: pump.cmdOn(); break;\n case 2: pump.cmdOff(); break;\n case 3: \n if (GRIPPER == 0){\n byj_gripper.cmdOn(); break;\n } else if (GRIPPER == 1){\n servo_gripper.cmdOn(); break;\n }\n case 5:\n if (GRIPPER == 0){\n byj_gripper.cmdOff(); break;\n } else if (GRIPPER == 1){\n servo_gripper.cmdOff(); break;\n }\n case 6: laser.cmdOn(); break;\n case 7: laser.cmdOff(); break;\n case 17: setStepperEnable(true); break;\n case 18: setStepperEnable(false); break;\n case 106: fan.enable(true); break;\n case 107: fan.enable(false); break;\n case 114: command.cmdGetPosition(interpolator.getPosmm(), interpolator.getPosOffset(), stepperHigher.getPosition(), stepperLower.getPosition(), stepperRotate.getPosition()); break;// Return the current positions of all axis \n case 119: \n Logger::logINFO(\"ENDSTOP STATE: [UPPER_SHANK(X):\"+String(endstopX.state())+\" LOWER_SHANK(Y):\"+String(endstopY.state())+\" ROTATE_GEAR(Z):\"+String(endstopZ.state())+\"]\");\n break;\n default: printErr();\n }\n }\n else {\n printErr();\n }\n}\n\nvoid setStepperEnable(bool enable){\n stepperRotate.enable(enable);\n stepperLower.enable(enable);\n stepperHigher.enable(enable);\n if(RAIL){\n stepperRail.enable(enable);\n }\n fan.enable(enable);\n}\n\nvoid homeSequence(){\n setStepperEnable(false);\n fan.enable(true);\n if (HOME_Y_STEPPER){\n endstopY.home(!INVERSE_Y_STEPPER); //INDICATE STEPPER HOMING DIRECTION\n }\n if (HOME_X_STEPPER){\n endstopX.home(!INVERSE_X_STEPPER); //INDICATE STEPPER HOMING DIRECTION\n }\n if (HOME_Z_STEPPER){\n endstopZ.home(INVERSE_Z_STEPPER); //INDICATE STEPPER HOMING DIRECDTION\n }\n if (RAIL){\n if (HOME_E0_STEPPER){\n endstopE0.home(!INVERSE_E0_STEPPER); //\n }\n }\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n Logger::logINFO(\"HOMING COMPLETE\");\n}\n" }, { "path": "arduino_firmware/robotArm_v0.51/robotGeometry.cpp", "content": "#include \"robotGeometry.h\"\n\n#include \n#include \n\nRobotGeometry::RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_shank_length) {\n ee_offset = a_ee_offset;\n low_shank_length = a_low_shank_length;\n high_shank_length = a_high_shank_length;\n}\n\nvoid RobotGeometry::set(float axmm, float aymm, float azmm) {\n xmm = axmm;\n ymm = aymm;\n zmm = azmm; \n calculateGrad();\n}\n\nfloat RobotGeometry::getXmm() const {\n return xmm;\n}\n\nfloat RobotGeometry::getYmm() const {\n return ymm;\n}\n\nfloat RobotGeometry::getZmm() const {\n return zmm;\n}\n\nfloat RobotGeometry::getRotRad() const {\n return rot;\n}\n\nfloat RobotGeometry::getLowRad() const {\n return low;\n}\n\nfloat RobotGeometry::getHighRad() const {\n return high;\n}\n\nvoid RobotGeometry::calculateGrad() {\n float rrot_ee = hypot(xmm, ymm); \n float rrot = rrot_ee - ee_offset; //radius from Top View\n float rside = hypot(rrot, zmm); //radius from Side View. Use rrot instead of ymm..for everything\n float rside_2 = sq(rside);\n float low_2 = sq(low_shank_length);\n float high_2 = sq(high_shank_length);\n \n rot = asin(xmm / rrot_ee);\n high = PI - acos((low_2 + high_2 - rside_2) / (2 * low_shank_length * high_shank_length));\n\n //Angle of Lower Stepper Motor (asin()=Angle To Gripper)\n if (zmm > 0) {\n low = acos(zmm / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside));\n } else {\n low = PI - asin(rrot / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside));\n }\n high = high + low;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.51/robotGeometry.h", "content": "#ifndef ROBOTGEOMETRY_H_\n#define ROBOTGEOMETRY_H_\n\nclass RobotGeometry {\npublic:\n RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_length);\n void set(float axmm, float aymm, float azmm);\n float getXmm() const;\n float getYmm() const;\n float getZmm() const;\n float getRotRad() const;\n float getLowRad() const;\n float getHighRad() const;\nprivate:\n void calculateGrad();\n float ee_offset;\n float low_shank_length;\n float high_shank_length;\n float xmm;\n float ymm;\n float zmm;\n float rot;\n float low;\n float high;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.51/servo_gripper.cpp", "content": "#include \"servo_gripper.h\"\n#include \n#include \n\n\nServo_Gripper::Servo_Gripper(int pin, float grip_degree, float ungrip_degree){\n servo_pin = pin;\n servo_grip_deg = grip_degree;\n servo_ungrip_deg = ungrip_degree;\n Servo servo_motor;\n}\n\nvoid Servo_Gripper::cmdOn(){\n servo_motor.attach(servo_pin);\n servo_motor.write(servo_grip_deg);\n delay(300);\n servo_motor.detach();\n}\n\nvoid Servo_Gripper::cmdOff(){\n servo_motor.attach(servo_pin);\n servo_motor.write(servo_ungrip_deg);\n delay(300);\n servo_motor.detach();\n}\n" }, { "path": "arduino_firmware/robotArm_v0.51/servo_gripper.h", "content": "#ifndef SERVO_GRIPPER_H_\n#define SERVO_GRIPPER_H_\n#include \n\nclass Servo_Gripper{\npublic:\n Servo_Gripper(int pin, float grip_degree, float ungrip_degree);\n void cmdOn();\n void cmdOff();\nprivate:\n Servo servo_motor;\n int servo_pin;\n float servo_grip_deg;\n float servo_ungrip_deg;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.61/RampsStepper.cpp", "content": "#include \"RampsStepper.h\"\n#include \"config.h\"\n\n#include \n\nRampsStepper::RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse) {\n setReductionRatio(MAIN_GEAR_TEETH / MOTOR_GEAR_TEETH, MICROSTEPS * STEPS_PER_REV);\n stepPin = aStepPin;\n dirPin = aDirPin;\n enablePin = aEnablePin;\n inverse = aInverse;\n stepperStepPosition = 0;\n stepperStepTargetPosition;\n pinMode(stepPin, OUTPUT);\n pinMode(dirPin, OUTPUT);\n pinMode(enablePin, OUTPUT);\n enable(false);\n}\n\nvoid RampsStepper::enable(bool value) {\n digitalWrite(enablePin, !value);\n}\n\nbool RampsStepper::isOnPosition() const {\n return stepperStepPosition == stepperStepTargetPosition;\n}\n\nint RampsStepper::getPosition() const {\n return stepperStepPosition;\n}\n\nvoid RampsStepper::setPosition(int value) {\n stepperStepPosition = value;\n stepperStepTargetPosition = value;\n}\n\nvoid RampsStepper::stepToPosition(int value) {\n stepperStepTargetPosition = value;\n}\n\nvoid RampsStepper::stepToPositionMM(float mm, float steps_per_mm) {\n stepperStepTargetPosition = mm * steps_per_mm;\n}\n\nvoid RampsStepper::stepRelative(int value) {\n value += stepperStepPosition;\n stepToPosition(value);\n}\n\nfloat RampsStepper::getPositionRad() const {\n return stepperStepPosition / radToStepFactor;\n}\n\nvoid RampsStepper::setPositionRad(float rad) {\n setPosition(rad * radToStepFactor);\n}\n\nvoid RampsStepper::stepToPositionRad(float rad) {\n stepperStepTargetPosition = rad * radToStepFactor;\n}\n\nvoid RampsStepper::stepRelativeRad(float rad) {\n stepRelative(rad * radToStepFactor);\n}\n\nvoid RampsStepper::update() { \n while (stepperStepTargetPosition < stepperStepPosition) { \n digitalWrite(dirPin, !inverse);\n digitalWrite(stepPin, HIGH);\n digitalWrite(stepPin, LOW);\n stepperStepPosition--;\n }\n \n while (stepperStepTargetPosition > stepperStepPosition) { \n digitalWrite(dirPin, inverse);\n digitalWrite(stepPin, HIGH);\n digitalWrite(stepPin, LOW);\n stepperStepPosition++;\n }\n}\n\nvoid RampsStepper::setReductionRatio(float gearRatio, int stepsPerRev) {\n radToStepFactor = gearRatio * stepsPerRev / 2 / PI;\n};\n" }, { "path": "arduino_firmware/robotArm_v0.61/RampsStepper.h", "content": "#ifndef RAMPSSTEPPER_H_\n#define RAMPSSTEPPER_H_\n\nclass RampsStepper {\npublic:\n RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse);\n void enable(bool value = true);\n \n bool isOnPosition() const;\n int getPosition() const;\n void setPosition(int value);\n void stepToPosition(int value);\n void stepToPositionMM(float mm, float steps_per_mm);\n void stepRelative(int value);\n float getPositionRad() const;\n void setPositionRad(float rad);\n void stepToPositionRad(float rad);\n void stepRelativeRad(float rad);\n \n void update();\n \n void setReductionRatio(float gearRatio, int stepsPerRev);\nprivate:\n int stepperStepTargetPosition;\n int stepperStepPosition;\n int stepPin;\n int dirPin;\n int enablePin; \n bool inverse;\n float radToStepFactor;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.61/byj_gripper.cpp", "content": "#include \"byj_gripper.h\"\n#include \n\nBYJ_Gripper::BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps){\n grip_steps = steps;\n byj_pin_0 = pin0;\n byj_pin_1 = pin1;\n byj_pin_2 = pin2;\n byj_pin_3 = pin3;\n step_cycle = 0;\n pinMode(byj_pin_0, OUTPUT);\n pinMode(byj_pin_1, OUTPUT);\n pinMode(byj_pin_2, OUTPUT);\n pinMode(byj_pin_3, OUTPUT);\n}\n\nvoid BYJ_Gripper::cmdOn() {\n direction = true;\n for (int i = 1; i <= grip_steps; i++) {\n moveSteps();\n delay(1);\n }\n}\n\nvoid BYJ_Gripper::cmdOff() {\n direction = false;\n for (int i = 1; i <= grip_steps; i++) {\n moveSteps();\n delay(1);\n }\n}\n\nvoid BYJ_Gripper::setDirection(){\n if (direction == true) {\n step_cycle++;\n }\n if (direction == false) {\n step_cycle--;\n }\n if (step_cycle > 7) {\n step_cycle = 0;\n }\n if (step_cycle < 0) {\n step_cycle = 7;\n }\n}\n\nvoid BYJ_Gripper::moveSteps() {\n switch (step_cycle) {\n case 0:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, HIGH);\n break;\n case 1:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, HIGH);\n break;\n case 2:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 3:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 4:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 5:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 6:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 7:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, HIGH);\n break;\n default:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n }\n setDirection();\n}\n" }, { "path": "arduino_firmware/robotArm_v0.61/byj_gripper.h", "content": "#ifndef BYJ_GRIPPER_H_\n#define BYJ_GRIPPER_H_\n\n\nclass BYJ_Gripper {\npublic:\n BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps);\n void cmdOn();\n void cmdOff();\nprivate:\n bool direction;\n void moveSteps();\n void setDirection();\n int byj_pin_0;\n int byj_pin_1;\n int byj_pin_2;\n int byj_pin_3;\n int grip_steps;\n int step_cycle;\n};\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.61/command.cpp", "content": "#include \"command.h\"\n#include \"logger.h\"\n#include \"config.h\"\n#include \n\nCommand::Command() {\n //initialize Command to a zero-move value;\n new_command.valueX = NAN; \n new_command.valueY = NAN;\n new_command.valueZ = NAN;\n new_command.valueF = 0;\n new_command.valueE = NAN;\n new_command.valueS = 0;\n message = \"\";\n isRelativeCoord = false;\n}\n\nbool Command::handleGcode() {\n if (Serial.available()) {\n char c = Serial.read();\n if (c == '\\n') {\n return false; \n }\n if (c == '\\r') {\n bool b = processMessage(message);\n message = \"\";\n return b;\n } else {\n message += c; \n }\n }\n return false;\n}\n\nbool Command::processMessage(String msg){\n\n new_command.valueX = NAN; \n new_command.valueY = NAN;\n new_command.valueZ = NAN;\n new_command.valueE = NAN;\n new_command.valueF = 0;\n new_command.valueS = 0; \n msg.toUpperCase();\n msg.replace(\" \", \"\");\n int active_index = 0;\n new_command.id = msg[active_index];\n if((new_command.id != 'G') && (new_command.id != 'M')){\n printErr();\n return false;\n }\n\n active_index++;\n int temp_index = active_index;\n while (temp_index\n#include \"interpolation.h\"\n\nstruct Cmd {\n char id;\n int num;\n float valueX;\n float valueY;\n float valueZ;\n float valueF;\n float valueE;\n float valueS; \n};\n\nclass Command {\n public:\n Command();\n bool handleGcode();\n bool processMessage(String msg);\n void value_segment(String msg_segment);\n Cmd getCmd() const;\n void cmdGetPosition(Point pos, Point pos_offset, float highRad, float lowRad, float rotRad);\n void cmdToRelative();\n void cmdToAbsolute();\n bool isRelativeCoord;\n Cmd new_command;\n\n private: \n String message;\n};\n\nvoid cmdMove(Cmd(&cmd), Point pos, Point pos_offset, bool isRelativeCoord);\nvoid cmdDwell(Cmd(&cmd));\nvoid printErr();\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.61/config.h", "content": "#ifndef CONFIG_H_\n#define CONFIG_H_\n\n//SERIAL SETTINGS\n#define BAUD 115200\n\n//MEGA2560 BY DEFAULT, SET TO true IF UNO & CNC SHILED USED TO DRIVE ROBOT\n#define USE_UNO false\n\n//ROBOT ARM LENGTH\n//#define SHANK_LENGTH 140.0\n#define LOW_SHANK_LENGTH 140.0\n#define HIGH_SHANK_LENGTH 140.0\n\n#define END_EFFECTOR_OFFSET 54.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM\n\n//INITIAL INTERPOLATION SETTINGS\n// INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES\n#define INITIAL_X 0.0 // CARTESIAN COORDINATE X \n#define INITIAL_Y (HIGH_SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y\n#define INITIAL_Z LOW_SHANK_LENGTH // CARTESIAN COORDINATE Z\n\n#define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION \n\n// CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS\n#define X_HOME_STEPS 1020 //765 //860 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM\n#define Y_HOME_STEPS 1900 //1940 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM\n#define Z_HOME_STEPS 3640 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER\n#define E0_HOME_STEPS 0 // STEPS FROM E0_ENDSTOP TO INITIAL_E0\n\n//HOMING SETTINGS:\n#define HOME_X_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Y_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Z_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_E0_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_ON_BOOT false // \"true\" IF HOMING REQUIRED AFTER POWER ON\n#define HOME_DWELL 1400 // INCREASE TO SLOW DOWN HOMING SPEED\n\n//STEPPER SETTINGS:\n#define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4\n#define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION\n#define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n\n//RAIL SETTINGS:\n#define RAIL true // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY.\n#define STEPS_PER_MM_RAIL 80.0 // STEPS PER MM FOR RAIL MOTOR\n#define RAIL_LENGTH 200.0 // MAX LENGTH OF RAIL IN MM\n\n//ENDSTOP SETTINGS:\n#define X_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define Y_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define Z_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define E0_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n\n//GEAR RATIO SETTINGS\n#define MOTOR_GEAR_TEETH 20.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION\n#define MAIN_GEAR_TEETH 90.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION\n\n//EQUIPMENT SETTINGS\n#define LASER false // 12V LASER CONNECTED TO LASER_PIN\n#define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN\n#define FAN_DELAY 120 // FAN ON IN SECONDS\n\n//GRIPPER SETTINGS\n#define GRIPPER 0 //GRIPPER MOTOR IN USE\n // 0: 28BYJ-48 MICRO STEPPER MOTOR\n // 1: 9G SERVO OR MG996 SERVO EQUIVALENT\n//28BYJ GRIPPER SETTINGS\n#define BYJ_GRIP_STEPS 1200 //FTOBLER: 1200\n//SERVO GRIPPER SETTINGS\n#define SERVO_GRIP_DEGREE 90.0\n#define SERVO_UNGRIP_DEGREE 0.0\n\n//COMMAND QUEUE SETTINGS\n#define QUEUE_SIZE 15\n\n//PRINT REPLY SETTING\n#define PRINT_REPLY false // \"true\" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED\n#define PRINT_REPLY_MSG \"ok\" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE\n\n//SPEED PROFILE SETTING\n#define SPEED_PROFILE 2 // OPTIONS BELOW\n//0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE)\n//1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION)\n//2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL FROM 0, SUITABLE FOR PRESET COMMAND MOVEMENTS)\n\n\n//LOG SETTINGS\n#define LOG_LEVEL 2\n//0: ERROR\n//1: INFO\n//2: DEBUG\n\n//MOVE LIMIT PARAMETERS\n#define Z_MIN -140.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND\n#define Z_MAX (LOW_SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX\n#define SHANKS_MIN_ANGLE_COS 0.791436948 \n#define SHANKS_MAX_ANGLE_COS -0.774944489 \n#define R_MIN (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MIN_ANGLE_COS) ))\n#define R_MAX (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MAX_ANGLE_COS) ))\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.61/endstop.cpp", "content": "#include \"endstop.h\"\n#include \n\nEndstop::Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell){\n min_pin = a_min_pin;\n dir_pin = a_dir_pin;\n step_pin = a_step_pin;\n en_pin = a_en_pin;\n switch_input = a_switch_input;\n home_dwell = a_home_dwell;\n step_offset = a_step_offset;\n pinMode(min_pin, INPUT_PULLUP);\n}\n\nvoid Endstop::home(bool dir) {\n digitalWrite(en_pin, LOW);\n delayMicroseconds(5);\n if (dir==1){\n digitalWrite(dir_pin, HIGH);\n } else {\n digitalWrite(dir_pin, LOW);\n }\n delayMicroseconds(5);\n bState = !(digitalRead(min_pin) ^ switch_input);\n while (!bState) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n bState = !(digitalRead(min_pin) ^ switch_input);\n }\n homeOffset(dir);\n}\n\nvoid Endstop::homeOffset(bool dir){\n if (dir==1){\n digitalWrite(dir_pin, LOW);\n }\n else{\n digitalWrite(dir_pin, HIGH);\n }\n delayMicroseconds(5);\n for (int i = 1; i <= step_offset; i++) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n }\n}\n\nvoid Endstop::oneStepToEndstop(bool dir){\n digitalWrite(en_pin, LOW);\n delayMicroseconds(5);\n if (dir==1){\n digitalWrite(dir_pin, HIGH);\n } else {\n digitalWrite(dir_pin, LOW);\n }\n delayMicroseconds(5);\n bState = !(digitalRead(min_pin) ^ switch_input);\n\n if (!bState) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n }\n bState = !(digitalRead(min_pin) ^ switch_input);\n}\n\nbool Endstop::state(){\n bState = !(digitalRead(min_pin) ^ switch_input);\n return bState;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.61/endstop.h", "content": "#ifndef ENDSTOP_H_\n#define ENDSTOP_H_\n\nclass Endstop {\n public:\n Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell);\n void home(bool dir);\n void homeOffset(bool dir);\n void oneStepToEndstop(bool dir);\n bool state();\n bool bState;\n\n private:\n int min_pin;\n int dir_pin;\n int step_pin;\n int en_pin;\n int switch_input;\n int home_dwell;\n int step_offset;\n \n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.61/equipment.cpp", "content": "#include \"equipment.h\"\n#include \n\nEquipment::Equipment(int equipment_pin){\n pin = equipment_pin;\n pinMode(pin, OUTPUT);\n}\n\nvoid Equipment::cmdOn(){\n digitalWrite(pin, HIGH); \n}\n\nvoid Equipment::cmdOff(){\n digitalWrite(pin, LOW); \n}\n" }, { "path": "arduino_firmware/robotArm_v0.61/equipment.h", "content": "#ifndef EQUIPMENT_H_\n#define EQUIPMENT_H_\n\nclass Equipment {\npublic:\n Equipment(int equipment_pin);\n void cmdOn();\n void cmdOff();\nprivate:\n int pin;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.61/fanControl.cpp", "content": "#include \"fanControl.h\"\n#include \n\n\nFanControl::FanControl(int aPin, int aFanDelay) {\n fan_delay = aFanDelay * 1000;\n nextShutdown = 0;\n pin = aPin;\n pinMode(pin , OUTPUT);\n digitalWrite(pin , LOW);\n state = false;\n}\n\nvoid FanControl::enable(bool value) {\n if (value) {\n state = true;\n digitalWrite(pin, HIGH);\n } else {\n disable();\n }\n}\n\nvoid FanControl::disable() {\n state = false;\n nextShutdown = millis() + fan_delay;\n update();\n}\n\nvoid FanControl::update() {\n if (!state) {\n if (millis() >= nextShutdown) {\n digitalWrite(pin, LOW);\n }\n }\n}\n" }, { "path": "arduino_firmware/robotArm_v0.61/fanControl.h", "content": "#ifndef FANCONTROL_H_\n#define FANCONTROL_H_\n\nclass FanControl {\npublic:\n FanControl(int aPin, int aFanDelay);\n void enable(bool value = true);\n void disable();\n void update();\nprivate:\n bool state;\n int pin;\n long fan_delay;\n long nextShutdown;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.61/interpolation.cpp", "content": "#include \"interpolation.h\"\n#include \"config.h\"\n#include \"queue.h\"\n#include \"logger.h\"\n\nInterpolation::Interpolation(){\n pos_offset.xmm = 0.0;\n pos_offset.ymm = 0.0;\n pos_offset.zmm = 0.0;\n pos_offset.emm = 0.0;\n}\n\n//G92 POSITION OFFSET FUNCTIONS\nvoid Interpolation::setPosOffset(float new_x, float new_y, float new_z, float new_e) {\n pos_offset.xmm = xPosmm - new_x;\n pos_offset.ymm = yPosmm - new_y;\n pos_offset.zmm = zPosmm - new_z;\n pos_offset.emm = ePosmm - new_e;\n Logger::logINFO(\"POSITION OFFSET: [X\" + String(pos_offset.xmm) + \" Y:\" + String(pos_offset.ymm) + \" Z:\" + String(pos_offset.zmm) + \" E:\" + String(pos_offset.emm) + \"]\");\n Logger::logINFO(\"CURRENT POSITION: [X:\"+String(new_x)+\" Y:\"+String(new_y)+\" Z:\"+String(new_z)+\" E:\"+String(new_e)+\"]\");\n}\n\nvoid Interpolation::resetPosOffset(){\n pos_offset.xmm = 0.0;\n pos_offset.ymm = 0.0;\n pos_offset.zmm = 0.0;\n pos_offset.emm = 0.0;\n}\n\nPoint Interpolation::getPosOffset() const {\n return pos_offset;\n}\n\n\nvoid Interpolation::setCurrentPos(float px, float py, float pz, float pe) {\n Point p;\n p.xmm = px;\n p.ymm = py;\n p.zmm = pz;\n p.emm = pe;\n setCurrentPos(p);\n}\n\nvoid Interpolation::setInterpolation(float px, float py, float pz, float pe, float v) {\n Point p;\n p.xmm = px;\n p.ymm = py;\n p.zmm = pz;\n p.emm = pe;\n setInterpolation(p, v);\n}\n\nvoid Interpolation::setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float v) {\n Point p1;\n Point p2;\n p1.xmm = p1x;\n p1.ymm = p1y;\n p1.zmm = p1z;\n p1.emm = p1e;\n p2.xmm = p2x;\n p2.ymm = p2y;\n p2.zmm = p2z;\n p2.emm = p2e;\n setInterpolation(p1, p2, v);\n}\n\nvoid Interpolation::setInterpolation(Point p1, float v) {\n Point p0;\n p0.xmm = xStartmm + xDelta;\n p0.ymm = yStartmm + yDelta;\n p0.zmm = zStartmm + zDelta;\n p0.emm = eStartmm + eDelta;\n setInterpolation(p0, p1, v);\n}\n\nvoid Interpolation::setInterpolation(Point p0, Point p1, float av) {\n v = av; //mm/s\n \n float a = (p1.xmm - p0.xmm);\n float b = (p1.ymm - p0.ymm);\n float c = (p1.zmm - p0.zmm);\n float e = abs(p1.emm - p0.emm);\n float dist = sqrt(a*a + b*b + c*c);\n\n if (dist < e) {\n dist = e; \n }\n\n if (v < 5) { //includes 0 = default value\n v = sqrt(dist) * 10; //set a good value for v\n }\n if (v < 5) {\n v = 5; \n }\n \n tmul = v / dist;\n \n xStartmm = p0.xmm;\n yStartmm = p0.ymm;\n zStartmm = p0.zmm;\n eStartmm = p0.emm;\n \n xDelta = (p1.xmm - p0.xmm);\n yDelta = (p1.ymm - p0.ymm);\n zDelta = (p1.zmm - p0.zmm);\n eDelta = (p1.emm - p0.emm);\n \n state = 0;\n \n startTime = micros();\n}\n\nvoid Interpolation::setCurrentPos(Point p) {\n xStartmm = p.xmm;\n yStartmm = p.ymm;\n zStartmm = p.zmm;\n eStartmm = p.emm;\n xDelta = 0;\n yDelta = 0;\n zDelta = 0;\n eDelta = 0;\n}\n\nvoid Interpolation::updateActualPosition() {\n if (state != 0) {\n return;\n } \n long microsek = micros();\n float t = (microsek - startTime) / 1000000.0;\n float progress;\n switch (SPEED_PROFILE){\n // FLAT SPEED CURVE\n case 0:\n progress = t * tmul;\n if (progress >= 1.0){\n progress = 1.0;\n state = 1;\n }\n break;\n // ARCTAN APPROX\n case 1:\n progress = atan((PI * t * tmul) - (PI * 0.5)) * 0.5 + 0.5;\n if (progress >= 1.0) {\n progress = 1.0; \n state = 1;\n }\n break;\n // COSIN APPROX\n case 2:\n progress = -cos(t * tmul * PI) * 0.5 + 0.5;\n if ((t * tmul) >= 1.0) {\n progress = 1.0; \n state = 1;\n }\n break;\n }\n pos_tracker[X_AXIS] = xStartmm + progress * xDelta;\n pos_tracker[Y_AXIS] = yStartmm + progress * yDelta;\n pos_tracker[Z_AXIS] = zStartmm + progress * zDelta;\n pos_tracker[E_AXIS] = eStartmm + progress * eDelta;\n\n if(isAllowedPosition(pos_tracker)){\n xPosmm = pos_tracker[X_AXIS];\n yPosmm = pos_tracker[Y_AXIS];\n zPosmm = pos_tracker[Z_AXIS];\n ePosmm = pos_tracker[E_AXIS];\n } else {\n pos_tracker[X_AXIS] = xPosmm;\n pos_tracker[Y_AXIS] = yPosmm;\n pos_tracker[Z_AXIS] = zPosmm;\n pos_tracker[E_AXIS] = ePosmm;\n state = 1;\n progress = 1.0;\n xStartmm = xPosmm;\n yStartmm = yPosmm;\n zStartmm = zPosmm;\n eStartmm = ePosmm;\n xDelta = 0;\n yDelta = 0;\n zDelta = 0;\n eDelta = 0;\n }\n //FOR DECIPHERING SPEED CURVE\n //Serial.print(\"xPosmm:\");\n //Serial.print(xPosmm);\n //Serial.print(\" yPosmm:\");\n //Serial.print(yPosmm);\n //Serial.print(\" zPosmm:\");\n //Serial.println(zPosmm);\n}\n\nbool Interpolation::isFinished() const {\n return state != 0; \n}\n\nfloat Interpolation::getXPosmm() const {\n return xPosmm;\n}\n\nfloat Interpolation::getYPosmm() const {\n return yPosmm;\n}\n\nfloat Interpolation::getZPosmm() const {\n return zPosmm;\n}\n\nfloat Interpolation::getEPosmm() const {\n return ePosmm;\n}\n\nPoint Interpolation::getPosmm() const {\n Point p;\n p.xmm = xPosmm;\n p.ymm = yPosmm;\n p.zmm = zPosmm;\n p.emm = ePosmm;\n return p;\n}\n\nbool Interpolation::isAllowedPosition(float pos_tracker[4]) {\n float rrot_ee = hypot(pos_tracker[X_AXIS], pos_tracker[Y_AXIS]);\n float rrot = rrot_ee - END_EFFECTOR_OFFSET; \n float rrot_x = rrot * (pos_tracker[Y_AXIS] / rrot_ee);\n float rrot_y = rrot * (pos_tracker[X_AXIS] / rrot_ee);\n float squaredPositionModule = sq(rrot_x) + sq(rrot_y) + sq(pos_tracker[Z_AXIS]); \n\n bool retVal = (\n squaredPositionModule <= sq(R_MAX) \n && squaredPositionModule >= sq(R_MIN) \n && pos_tracker[Z_AXIS] >= Z_MIN \n && pos_tracker[Z_AXIS] <= Z_MAX \n && pos_tracker[E_AXIS] <= RAIL_LENGTH\n );\n if(!retVal) {\n Logger::logERROR(\"LIMIT REACHED: [X:\" + String(pos_tracker[X_AXIS]) + \" Y:\" + String(pos_tracker[Y_AXIS]) + \" Z:\" + String(pos_tracker[Z_AXIS]) + \" E:\" + String(pos_tracker[E_AXIS]) + \"]\");\n }\n return retVal;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.61/interpolation.h", "content": "#ifndef INTERPOLATION_H_\n#define INTERPOLATION_H_\n#include \n\n#define X_AXIS 0\n#define Y_AXIS 1\n#define Z_AXIS 2\n#define E_AXIS 3\n\nstruct Point {\n float xmm;\n float ymm;\n float zmm;\n float emm;\n};\nclass Interpolation {\npublic:\n //void resetInterpolation(float px, float py, float pz);\n //void resetInterpolation(float p1x, float p1y, float p1z, float p2x, float p2y, float p2z);\n //void resetInterpolation(Point p0, Point p1);\n Interpolation();\n void setCurrentPos(float px, float py, float pz, float pe);\n void setInterpolation(float px, float py, float pz, float pe, float v = 0);\n void setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float av = 0);\n \n void setCurrentPos(Point p);\n void setInterpolation(Point p1, float v = 0);\n void setInterpolation(Point p0, Point p1, float v = 0);\n \n void updateActualPosition();\n bool isFinished() const;\n \n float getXPosmm() const;\n float getYPosmm() const;\n float getZPosmm() const;\n float getEPosmm() const;\n Point getPosmm() const;\n bool isAllowedPosition(float pos_tracker[4]);\n void setPosOffset(float new_x, float new_y, float new_z, float new_e);\n void resetPosOffset();\n Point getPosOffset() const;\n\nprivate:\n Point pos_offset;\n float pos_tracker[4];\n byte state;\n \n long startTime; \n \n float xStartmm;\n float yStartmm;\n float zStartmm;\n float eStartmm;\n float xDelta;\n float yDelta;\n float zDelta;\n float eDelta;\n float xPosmm;\n float yPosmm;\n float zPosmm;\n float ePosmm;\n float v;\n float tmul;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.61/logger.cpp", "content": "#include \"logger.h\"\n#include \"config.h\"\n\nvoid Logger::log(String message, int level) {\n if(LOG_LEVEL >= level) {\n String logMsg;\n switch(level) {\n case LOG_ERROR:\n logMsg = \"ERROR: \";\n break;\n case LOG_INFO:\n logMsg = \"INFO: \";\n break;\n case LOG_DEBUG:\n logMsg = \"DEBUG: \";\n break;\n }\n logMsg = logMsg + message;\n Serial.println(logMsg);\n }\n}\nvoid Logger::logERROR(String message) {\n log(message, LOG_ERROR);\n}\nvoid Logger::logINFO(String message) {\n log(message, LOG_INFO);\n}\nvoid Logger::logDEBUG(String message) {\n log(message, LOG_DEBUG);\n}" }, { "path": "arduino_firmware/robotArm_v0.61/logger.h", "content": "#ifndef LOGGER_H_\n#define LOGGER_H_\n\n#include \n\n#define LOG_ERROR 0\n#define LOG_INFO 1\n#define LOG_DEBUG 2\n\nclass Logger {\n public:\n static void log(String message, int level);\n static void logINFO(String message);\n static void logERROR(String message);\n static void logDEBUG(String message);\n};\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.61/pinout.h", "content": "#ifndef PINOUT_H_\n#define PINOUT_H_\n\n/*\n * pinout of RAMPS 1.4\n *\n * source: http://reprap.org/wiki/RAMPS_1.4\n */\n\n//RAMPS 1.4 PINS\n#define X_STEP_PIN 54\n#define X_DIR_PIN 55\n#define X_ENABLE_PIN 38\n#define X_MIN_PIN 3\n#define X_MAX_PIN 2\n \n#define Y_STEP_PIN 60\n#define Y_DIR_PIN 61\n#define Y_ENABLE_PIN 56\n#define Y_MIN_PIN 14\n#define Y_MAX_PIN 15\n\n#define Z_STEP_PIN 46\n#define Z_DIR_PIN 48\n#define Z_ENABLE_PIN 62\n#define Z_MIN_PIN 18\n#define Z_MAX_PIN 19\n\n#define E0_STEP_PIN 26\n#define E0_DIR_PIN 28\n#define E0_ENABLE_PIN 24\n#define E0_MIN_PIN 20\n\n#define E1_STEP_PIN 36\n#define E1_DIR_PIN 34\n#define E1_ENABLE_PIN 30\n\n#define BYJ_PIN_0 40\n#define BYJ_PIN_1 63\n#define BYJ_PIN_2 59\n#define BYJ_PIN_3 64\n\n#define SERVO_PIN 4\n\n#define PUMP_PIN 8\n#define LASER_PIN 10\n#define LED_PIN 13\n\n#define SDPOWER -1\n#define SDSS 53\n\n#define FAN_PIN 9\n\n#define PS_ON_PIN 12\n#define KILL_PIN -1\n\n//#define HEATER_0_PIN 10\n//#define HEATER_1_PIN 8\n#define TEMP_0_PIN 13 // ANALOG NUMBERING\n#define TEMP_1_PIN 14 // ANALOG NUMBERING\n\n//RAMPS AUX-2\n\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.61/pinout_uno.h", "content": "#ifndef PINOUT_UNO_H_\n#define PINOUT_UNO_H_\n\n#define X_STEP_PIN 2\n#define X_DIR_PIN 5\n#define X_ENABLE_PIN 8\n#define X_MIN_PIN 9\n#define X_MAX_PIN -1\n \n#define Y_STEP_PIN 3\n#define Y_DIR_PIN 6\n#define Y_ENABLE_PIN 8\n#define Y_MIN_PIN 10\n#define Y_MAX_PIN -1\n\n#define Z_STEP_PIN 4\n#define Z_DIR_PIN 7\n#define Z_ENABLE_PIN 8\n#define Z_MIN_PIN 11\n#define Z_MAX_PIN -1\n\n#define E0_STEP_PIN -1\n#define E0_DIR_PIN -1\n#define E0_ENABLE_PIN -1\n#define E0_MIN_PIN -1\n\n#define E1_STEP_PIN -1\n#define E1_DIR_PIN -1\n#define E1_ENABLE_PIN -1\n\n#define BYJ_PIN_0 -1\n#define BYJ_PIN_1 -1\n#define BYJ_PIN_2 -1\n#define BYJ_PIN_3 -1\n\n#define SERVO_PIN 12\n\n#define PUMP_PIN -1\n#define LASER_PIN -1\n#define LED_PIN -1\n\n#define SDPOWER -1\n#define SDSS -1\n\n#define FAN_PIN -1\n\n#define PS_ON_PIN -1\n#define KILL_PIN -1\n\n#define TEMP_0_PIN -1 // ANALOG NUMBERING\n#define TEMP_1_PIN -1 // ANALOG NUMBERING\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.61/queue.h", "content": "#ifndef QUEUE_H_\n#define QUEUE_H_\n\ntemplate class Queue {\npublic:\n Queue(int alen);\n ~Queue();\n bool push(Element elem);\n Element pop();\n bool isFull() const;\n bool isEmpty() const;\n int getFreeSpace() const;\n int getMaxLength() const;\n inline int getUsedSpace() const;\nprivate:\n Queue(Queue& q); //copy const.\n Element* data;\n int len;\n int start;\n int count;\n};\n\ntemplate \nQueue::Queue(int alen) {\n data = new Element[alen];\n len = alen;\n start = 0;\n count = 0;\n}\n\ntemplate \nQueue::~Queue() {\n delete data;\n}\n\ntemplate \nQueue::Queue(Queue& q) {\n //nothing ever is allowed to do something here\n}\n\ntemplate \nbool Queue::push(Element elem) {\n data[(start + count++) % len] = elem;\n}\n\ntemplate \nElement Queue::pop() {\n count--;\n int s = start;\n start = (start + 1) % len;\n return data[(s) % len];\n}\n\ntemplate \nbool Queue::isFull() const {\n return count >= len;\n}\n\ntemplate \nbool Queue::isEmpty() const {\n return count <= 0;\n}\n\ntemplate \nint Queue::getFreeSpace() const {\n return len - count;\n}\n\ntemplate \nint Queue::getMaxLength() const {\n return len;\n}\n\ntemplate \nint Queue::getUsedSpace() const {\n return count;\n}\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.61/robotArm_v0.61.ino", "content": "//20SFFACTORY COMMUNITY ROBOT FIRMWARE v0.61\n\n//V0.31 WITH G92, M114, LOGGER, LIMIT_CHECK FUNCTIONS\n//V0.41 WITH DUAL SHANK LENGTH SUPPORT\n//V0.51 WITH SERVO GRIPPER\n//V0.61 WITH ARDUINO UNO OPTION\n\n#include \"config.h\"\n#include \"logger.h\"\n\n#include \"pinout.h\"\n#if USE_UNO\n #include \"pinout_uno.h\"\n#endif\n\n#include \n\n#include \"robotGeometry.h\"\n#include \"interpolation.h\"\n#include \"fanControl.h\"\n#include \"RampsStepper.h\"\n#include \"queue.h\"\n#include \"command.h\"\n#include \"byj_gripper.h\"\n#include \"servo_gripper.h\"\n#include \"equipment.h\"\n#include \"endstop.h\"\n\n//STEPPER OBJECTS\nRampsStepper stepperHigher(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, INVERSE_X_STEPPER);\nRampsStepper stepperLower(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, INVERSE_Y_STEPPER);\nRampsStepper stepperRotate(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, INVERSE_Z_STEPPER);\n\n//RAIL OBJECTS\nRampsStepper stepperRail(E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, INVERSE_E0_STEPPER);\nEndstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL);\n\n//ENDSTOP OBJECTS\nEndstop endstopX(X_MIN_PIN, X_DIR_PIN, X_STEP_PIN, X_ENABLE_PIN, X_MIN_INPUT, X_HOME_STEPS, HOME_DWELL);\nEndstop endstopY(Y_MIN_PIN, Y_DIR_PIN, Y_STEP_PIN, Y_ENABLE_PIN, Y_MIN_INPUT, Y_HOME_STEPS, HOME_DWELL);\nEndstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL);\n\n//EQUIPMENT OBJECTS\nBYJ_Gripper byj_gripper(BYJ_PIN_0, BYJ_PIN_1, BYJ_PIN_2, BYJ_PIN_3, BYJ_GRIP_STEPS);\nServo_Gripper servo_gripper(SERVO_PIN, SERVO_GRIP_DEGREE, SERVO_UNGRIP_DEGREE);\nEquipment laser(LASER_PIN);\nEquipment pump(PUMP_PIN);\nEquipment led(LED_PIN);\nFanControl fan(FAN_PIN, FAN_DELAY);\n\n//EXECUTION & COMMAND OBJECTS\nRobotGeometry geometry(END_EFFECTOR_OFFSET, LOW_SHANK_LENGTH, HIGH_SHANK_LENGTH);\nInterpolation interpolator;\nQueue queue(QUEUE_SIZE);\nCommand command;\n\nvoid setup()\n{\n Serial.begin(BAUD);\n stepperHigher.setPositionRad(PI / 2.0); // 90°\n stepperLower.setPositionRad(0); // 0°\n stepperRotate.setPositionRad(0); // 0°\n stepperRail.setPosition(0);\n if (HOME_ON_BOOT) { //HOME DURING SETUP() IF HOME_ON_BOOT ENABLED\n homeSequence(); \n Logger::logINFO(\"ROBOT ONLINE\");\n } else {\n setStepperEnable(false); //ROBOT ADJUSTABLE BY HAND AFTER TURNING ON\n if (HOME_X_STEPPER && HOME_Y_STEPPER && !HOME_Z_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"ROTATE ROBOT TO FACE FRONT CENTRE & SEND G28 TO CALIBRATE\");\n }\n if (HOME_X_STEPPER && HOME_Y_STEPPER && HOME_Z_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"SEND G28 TO CALIBRATE\");\n }\n if (!HOME_X_STEPPER && !HOME_Y_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"HOME ROBOT MANUALLY & SEND G28 TO CALIBRATE\");\n }\n }\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n}\n\nvoid loop() {\n interpolator.updateActualPosition();\n geometry.set(interpolator.getXPosmm(), interpolator.getYPosmm(), interpolator.getZPosmm());\n stepperRotate.stepToPositionRad(geometry.getRotRad());\n stepperLower.stepToPositionRad(geometry.getLowRad());\n stepperHigher.stepToPositionRad(geometry.getHighRad());\n #if RAIL\n stepperRail.stepToPositionMM(interpolator.getEPosmm(), STEPS_PER_MM_RAIL);\n #endif\n stepperRotate.update();\n stepperLower.update();\n stepperHigher.update();\n #if RAIL\n stepperRail.update();\n #endif\n fan.update();\n\n if (!queue.isFull()) {\n if (command.handleGcode()) {\n queue.push(command.getCmd());\n }\n }\n if ((!queue.isEmpty()) && interpolator.isFinished()) {\n executeCommand(queue.pop());\n if (PRINT_REPLY) {\n Serial.println(PRINT_REPLY_MSG);\n }\n }\n if (millis() % 500 < 250) {\n led.cmdOn();\n }\n else {\n led.cmdOff();\n }\n}\n\nvoid executeCommand(Cmd cmd) {\n\n if (cmd.id == -1) {\n printErr();\n return;\n }\n\n if (cmd.id == 'G') {\n switch (cmd.num) {\n case 0:\n case 1:\n fan.enable(true);\n Point posoffset;\n posoffset = interpolator.getPosOffset(); \n cmdMove(cmd, interpolator.getPosmm(), posoffset, command.isRelativeCoord);\n interpolator.setInterpolation(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE, cmd.valueF);\n Logger::logINFO(\"LINEAR MOVE: X\" + String(cmd.valueX-posoffset.xmm) + \" Y\" + String(cmd.valueY-posoffset.ymm) + \" Z\" + String(cmd.valueZ-posoffset.zmm) + \" E\" + String(cmd.valueE-posoffset.emm));\n break;\n case 4: cmdDwell(cmd); break;\n case 28: \n if (USE_UNO){\n homeSequence_UNO();\n break;\n } else {\n homeSequence();\n break;\n }\n case 90: command.cmdToAbsolute(); break; // ABSOLUTE COORDINATE MODE\n case 91: command.cmdToRelative(); break; // RELATIVE COORDINATE MODE\n case 92: \n interpolator.resetPosOffset();\n cmdMove(cmd, interpolator.getPosmm(), interpolator.getPosOffset(), false);\n interpolator.setPosOffset(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE);\n break;\n default: printErr();\n }\n }\n else if (cmd.id == 'M') {\n switch (cmd.num) {\n case 1: pump.cmdOn(); break;\n case 2: pump.cmdOff(); break;\n case 3: \n if (GRIPPER == 0){\n byj_gripper.cmdOn(); break;\n } else if (GRIPPER == 1){\n servo_gripper.cmdOn(); break;\n }\n case 5:\n if (GRIPPER == 0){\n byj_gripper.cmdOff(); break;\n } else if (GRIPPER == 1){\n servo_gripper.cmdOff(); break;\n }\n case 6: laser.cmdOn(); break;\n case 7: laser.cmdOff(); break;\n case 17: setStepperEnable(true); break;\n case 18: setStepperEnable(false); break;\n case 106: fan.enable(true); break;\n case 107: fan.enable(false); break;\n case 114: command.cmdGetPosition(interpolator.getPosmm(), interpolator.getPosOffset(), stepperHigher.getPosition(), stepperLower.getPosition(), stepperRotate.getPosition()); break;// Return the current positions of all axis \n case 119:\n String endstopMsg = \"ENDSTOP: [X:\";\n endstopMsg += String(endstopX.state());\n endstopMsg += \" Y:\";\n endstopMsg += String(endstopY.state());\n endstopMsg += \" Z:\";\n endstopMsg += String(endstopZ.state());\n endstopMsg += \"]\";\n //ORIGINAL LOG STRING UNDESIRABLE FOR UNO PROCESSING\n //Logger::logINFO(\"ENDSTOP STATE: [UPPER_SHANK(X):\"+String(endstopX.state())+\" LOWER_SHANK(Y):\"+String(endstopY.state())+\" ROTATE_GEAR(Z):\"+String(endstopZ.state())+\"]\");\n Logger::logINFO(endstopMsg);\n break;\n default: printErr();\n }\n }\n else {\n printErr();\n }\n}\n\nvoid setStepperEnable(bool enable){\n stepperRotate.enable(enable);\n stepperLower.enable(enable);\n stepperHigher.enable(enable);\n #if RAIL\n stepperRail.enable(enable);\n #endif\n fan.enable(enable);\n}\n\nvoid homeSequence(){\n setStepperEnable(false);\n fan.enable(true);\n if (HOME_Y_STEPPER && HOME_X_STEPPER){\n endstopY.home(!INVERSE_Y_STEPPER);\n endstopX.home(!INVERSE_X_STEPPER);\n } else {\n setStepperEnable(true);\n endstopY.homeOffset(!INVERSE_Y_STEPPER);\n endstopX.homeOffset(!INVERSE_X_STEPPER);\n }\n if (HOME_Z_STEPPER){\n endstopZ.home(INVERSE_Z_STEPPER);\n }\n #if RAIL\n if (HOME_E0_STEPPER){\n endstopE0.home(!INVERSE_E0_STEPPER);\n }\n #endif\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n Logger::logINFO(\"HOMING COMPLETE\");\n}\n\n//DUE TO UNO CNC SHIELD LIMIT, 1 EN PIN SERVES 3 MOTORS, HENCE DIFFERENT HOMESEQUENCE IS REQUIRED\nvoid homeSequence_UNO(){\n if (HOME_Y_STEPPER && HOME_X_STEPPER){\n while (!endstopY.state() || !endstopX.state()){\n endstopY.oneStepToEndstop(!INVERSE_Y_STEPPER);\n endstopX.oneStepToEndstop(!INVERSE_X_STEPPER);\n }\n endstopY.homeOffset(!INVERSE_Y_STEPPER);\n endstopX.homeOffset(!INVERSE_X_STEPPER);\n } else {\n setStepperEnable(true);\n endstopY.homeOffset(!INVERSE_Y_STEPPER);\n endstopX.homeOffset(!INVERSE_X_STEPPER);\n }\n if (HOME_Z_STEPPER){\n endstopZ.home(INVERSE_Z_STEPPER); //INDICATE STEPPER HOMING DIRECDTION\n }\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n Logger::logINFO(\"HOMING COMPLETE\");\n}\n" }, { "path": "arduino_firmware/robotArm_v0.61/robotGeometry.cpp", "content": "#include \"robotGeometry.h\"\n\n#include \n#include \n\nRobotGeometry::RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_shank_length) {\n ee_offset = a_ee_offset;\n low_shank_length = a_low_shank_length;\n high_shank_length = a_high_shank_length;\n}\n\nvoid RobotGeometry::set(float axmm, float aymm, float azmm) {\n xmm = axmm;\n ymm = aymm;\n zmm = azmm; \n calculateGrad();\n}\n\nfloat RobotGeometry::getXmm() const {\n return xmm;\n}\n\nfloat RobotGeometry::getYmm() const {\n return ymm;\n}\n\nfloat RobotGeometry::getZmm() const {\n return zmm;\n}\n\nfloat RobotGeometry::getRotRad() const {\n return rot;\n}\n\nfloat RobotGeometry::getLowRad() const {\n return low;\n}\n\nfloat RobotGeometry::getHighRad() const {\n return high;\n}\n\nvoid RobotGeometry::calculateGrad() {\n float rrot_ee = hypot(xmm, ymm); \n float rrot = rrot_ee - ee_offset; //radius from Top View\n float rside = hypot(rrot, zmm); //radius from Side View. Use rrot instead of ymm..for everything\n float rside_2 = sq(rside);\n float low_2 = sq(low_shank_length);\n float high_2 = sq(high_shank_length);\n \n rot = asin(xmm / rrot_ee);\n high = PI - acos((low_2 + high_2 - rside_2) / (2 * low_shank_length * high_shank_length));\n\n //Angle of Lower Stepper Motor (asin()=Angle To Gripper)\n if (zmm > 0) {\n low = acos(zmm / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside));\n } else {\n low = PI - asin(rrot / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside));\n }\n high = high + low;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.61/robotGeometry.h", "content": "#ifndef ROBOTGEOMETRY_H_\n#define ROBOTGEOMETRY_H_\n\nclass RobotGeometry {\npublic:\n RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_length);\n void set(float axmm, float aymm, float azmm);\n float getXmm() const;\n float getYmm() const;\n float getZmm() const;\n float getRotRad() const;\n float getLowRad() const;\n float getHighRad() const;\nprivate:\n void calculateGrad();\n float ee_offset;\n float low_shank_length;\n float high_shank_length;\n float xmm;\n float ymm;\n float zmm;\n float rot;\n float low;\n float high;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.61/servo_gripper.cpp", "content": "#include \"servo_gripper.h\"\n#include \n#include \n\n\nServo_Gripper::Servo_Gripper(int pin, float grip_degree, float ungrip_degree){\n servo_pin = pin;\n servo_grip_deg = grip_degree;\n servo_ungrip_deg = ungrip_degree;\n Servo servo_motor;\n}\n\nvoid Servo_Gripper::cmdOn(){\n servo_motor.attach(servo_pin);\n servo_motor.write(servo_grip_deg);\n delay(300);\n servo_motor.detach();\n}\n\nvoid Servo_Gripper::cmdOff(){\n servo_motor.attach(servo_pin);\n servo_motor.write(servo_ungrip_deg);\n delay(300);\n servo_motor.detach();\n}\n" }, { "path": "arduino_firmware/robotArm_v0.61/servo_gripper.h", "content": "#ifndef SERVO_GRIPPER_H_\n#define SERVO_GRIPPER_H_\n#include \n\nclass Servo_Gripper{\npublic:\n Servo_Gripper(int pin, float grip_degree, float ungrip_degree);\n void cmdOn();\n void cmdOff();\nprivate:\n Servo servo_motor;\n int servo_pin;\n float servo_grip_deg;\n float servo_ungrip_deg;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/RampsStepper.cpp", "content": "#include \n#include \"RampsStepper.h\"\n\nRampsStepper::RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse, float main_gear_teeth, float motor_gear_teeth, int microsteps, int steps_per_rev) {\n setReductionRatio(main_gear_teeth / motor_gear_teeth, microsteps * steps_per_rev);\n stepPin = aStepPin;\n dirPin = aDirPin;\n enablePin = aEnablePin;\n inverse = aInverse;\n stepperStepPosition = 0;\n stepperStepTargetPosition;\n pinMode(stepPin, OUTPUT);\n pinMode(dirPin, OUTPUT);\n pinMode(enablePin, OUTPUT);\n enable(false);\n}\n\nvoid RampsStepper::enable(bool value) {\n digitalWrite(enablePin, !value);\n}\n\nbool RampsStepper::isOnPosition() const {\n return stepperStepPosition == stepperStepTargetPosition;\n}\n\nint RampsStepper::getPosition() const {\n return stepperStepPosition;\n}\n\nvoid RampsStepper::setPosition(int value) {\n stepperStepPosition = value;\n stepperStepTargetPosition = value;\n}\n\nvoid RampsStepper::stepToPosition(int value) {\n stepperStepTargetPosition = value;\n}\n\nvoid RampsStepper::stepToPositionMM(float mm, float steps_per_mm) {\n stepperStepTargetPosition = mm * steps_per_mm;\n}\n\nvoid RampsStepper::stepRelative(int value) {\n value += stepperStepPosition;\n stepToPosition(value);\n}\n\nfloat RampsStepper::getPositionRad() const {\n return stepperStepPosition / radToStepFactor;\n}\n\nvoid RampsStepper::setPositionRad(float rad) {\n setPosition(rad * radToStepFactor);\n}\n\nvoid RampsStepper::stepToPositionRad(float rad) {\n stepperStepTargetPosition = rad * radToStepFactor;\n}\n\nvoid RampsStepper::stepRelativeRad(float rad) {\n stepRelative(rad * radToStepFactor);\n}\n\nvoid RampsStepper::update() { \n while (stepperStepTargetPosition < stepperStepPosition) { \n digitalWrite(dirPin, !inverse);\n digitalWrite(stepPin, HIGH);\n digitalWrite(stepPin, LOW);\n stepperStepPosition--;\n }\n \n while (stepperStepTargetPosition > stepperStepPosition) { \n digitalWrite(dirPin, inverse);\n digitalWrite(stepPin, HIGH);\n digitalWrite(stepPin, LOW);\n stepperStepPosition++;\n }\n}\n\nvoid RampsStepper::setReductionRatio(float gearRatio, int stepsPerRev) {\n radToStepFactor = gearRatio * stepsPerRev / 2 / PI;\n};\n" }, { "path": "arduino_firmware/robotArm_v0.71/RampsStepper.h", "content": "#ifndef RAMPSSTEPPER_H_\n#define RAMPSSTEPPER_H_\n\nclass RampsStepper {\npublic:\n RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse, float main_gear_teeth, float motor_gear_teeth, int microsteps, int steps_per_rev);\n void enable(bool value = true);\n \n bool isOnPosition() const;\n int getPosition() const;\n void setPosition(int value);\n void stepToPosition(int value);\n void stepToPositionMM(float mm, float steps_per_mm);\n void stepRelative(int value);\n float getPositionRad() const;\n void setPositionRad(float rad);\n void stepToPositionRad(float rad);\n void stepRelativeRad(float rad);\n \n void update();\n \n void setReductionRatio(float gearRatio, int stepsPerRev);\nprivate:\n int stepperStepTargetPosition;\n int stepperStepPosition;\n int stepPin;\n int dirPin;\n int enablePin; \n bool inverse;\n float radToStepFactor;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/byj_gripper.cpp", "content": "#include \"byj_gripper.h\"\n#include \n\nBYJ_Gripper::BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps){\n grip_steps = steps;\n byj_pin_0 = pin0;\n byj_pin_1 = pin1;\n byj_pin_2 = pin2;\n byj_pin_3 = pin3;\n step_cycle = 0;\n pinMode(byj_pin_0, OUTPUT);\n pinMode(byj_pin_1, OUTPUT);\n pinMode(byj_pin_2, OUTPUT);\n pinMode(byj_pin_3, OUTPUT);\n}\n\nvoid BYJ_Gripper::cmdOn() {\n direction = true;\n for (int i = 1; i <= grip_steps; i++) {\n moveSteps();\n delay(1);\n }\n}\n\nvoid BYJ_Gripper::cmdOff() {\n direction = false;\n for (int i = 1; i <= grip_steps; i++) {\n moveSteps();\n delay(1);\n }\n}\n\nvoid BYJ_Gripper::setDirection(){\n if (direction == true) {\n step_cycle++;\n }\n if (direction == false) {\n step_cycle--;\n }\n if (step_cycle > 7) {\n step_cycle = 0;\n }\n if (step_cycle < 0) {\n step_cycle = 7;\n }\n}\n\nvoid BYJ_Gripper::moveSteps() {\n switch (step_cycle) {\n case 0:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, HIGH);\n break;\n case 1:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, HIGH);\n break;\n case 2:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 3:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 4:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 5:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 6:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 7:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, HIGH);\n break;\n default:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n }\n setDirection();\n}\n" }, { "path": "arduino_firmware/robotArm_v0.71/byj_gripper.h", "content": "#ifndef BYJ_GRIPPER_H_\n#define BYJ_GRIPPER_H_\n\n\nclass BYJ_Gripper {\npublic:\n BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps);\n void cmdOn();\n void cmdOff();\nprivate:\n bool direction;\n void moveSteps();\n void setDirection();\n int byj_pin_0;\n int byj_pin_1;\n int byj_pin_2;\n int byj_pin_3;\n int grip_steps;\n int step_cycle;\n};\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/command.cpp", "content": "#include \"command.h\"\n#include \"logger.h\"\n#include \n\nCommand::Command() {\n //initialize Command to a zero-move value;\n new_command.valueX = NAN; \n new_command.valueY = NAN;\n new_command.valueZ = NAN;\n new_command.valueF = 0;\n new_command.valueE = NAN;\n new_command.valueS = 0;\n message = \"\";\n isRelativeCoord = false;\n}\n\nbool Command::handleGcode() {\n if (Serial.available()) {\n char c = Serial.read();\n if (c == '\\n') {\n return false; \n }\n if (c == '\\r') {\n bool b = processMessage(message);\n message = \"\";\n return b;\n } else {\n message += c; \n }\n }\n return false;\n}\n\nbool Command::processMessage(String msg){\n\n new_command.valueX = NAN; \n new_command.valueY = NAN;\n new_command.valueZ = NAN;\n new_command.valueE = NAN;\n new_command.valueF = 0;\n new_command.valueS = 0; \n msg.toUpperCase();\n msg.replace(\" \", \"\");\n int active_index = 0;\n new_command.id = msg[active_index];\n if((new_command.id != 'G') && (new_command.id != 'M')){\n printErr();\n return false;\n }\n\n active_index++;\n int temp_index = active_index;\n while (temp_index\n#include \"interpolation.h\"\n\nstruct Cmd {\n char id;\n int num;\n float valueX;\n float valueY;\n float valueZ;\n float valueF;\n float valueE;\n float valueS; \n};\n\nclass Command {\n public:\n Command();\n bool handleGcode();\n bool processMessage(String msg);\n void value_segment(String msg_segment);\n Cmd getCmd() const;\n void cmdGetPosition(Point pos, Point pos_offset, float highRad, float lowRad, float rotRad);\n void cmdToRelative();\n void cmdToAbsolute();\n bool isRelativeCoord;\n Cmd new_command;\n\n private: \n String message;\n};\n\nvoid cmdMove(Cmd(&cmd), Point pos, Point pos_offset, bool isRelativeCoord);\nvoid cmdDwell(Cmd(&cmd));\nvoid printErr();\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/config.h", "content": "#ifndef CONFIG_H_\n#define CONFIG_H_\n\n//SERIAL SETTINGS\n#define BAUD 115200\n\n//CHOICE OF MCU BOARDS TO DRIVE ROBOT. BY DEFAULT: 0 (MEGA2560)\n#define BOARD_CHOICE MEGA2560\n //CHOICES: \n // MEGA2560\n // UNO\n // WEMOSD1R32\n \n //..DO NOT CHANGE BELOW BOARD VALUES..//\n #define MEGA2560 0 //ARDUINO MEGA2560 & RAMPS 1.4\n #define UNO 1 //ARDUINO UNO & CNC SHIELD\n #define WEMOSD1R32 2 //ESP32 - WEMOS D1 R32 & CNC SHIELD\n //PLEASE SEE & ADJUST ESP32 PARAMETERS IN [config_esp32.h]\n\n//ROBOT ARM LENGTH\n//#define SHANK_LENGTH 140.0\n#define LOW_SHANK_LENGTH 140.0\n#define HIGH_SHANK_LENGTH 140.0\n\n#define END_EFFECTOR_OFFSET 54.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM\n\n//INITIAL INTERPOLATION SETTINGS\n// INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES\n#define INITIAL_X 0.0 // CARTESIAN COORDINATE X \n#define INITIAL_Y (HIGH_SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y\n#define INITIAL_Z LOW_SHANK_LENGTH // CARTESIAN COORDINATE Z\n\n#define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION \n\n// CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS\n#define X_HOME_STEPS 1020//1020 //765 //860 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM\n#define Y_HOME_STEPS 1900//1900 //1940 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM\n#define Z_HOME_STEPS 3640//3640 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER\n#define E0_HOME_STEPS 300 // STEPS FROM E0_ENDSTOP TO INITIAL_E0\n\n//HOMING SETTINGS:\n#define HOME_X_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Y_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Z_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_E0_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_ON_BOOT false // \"true\" IF HOMING REQUIRED AFTER POWER ON\n#define HOME_DWELL 800 // INCREASE TO SLOW DOWN HOMING SPEED\n\n//STEPPER SETTINGS:\n#define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4\n#define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION\n#define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n\n//RAIL SETTINGS:\n#define RAIL true // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY.\n#define STEPS_PER_MM_RAIL 80 // STEPS PER MM FOR RAIL MOTOR\n //FORMULA: STEPS_PER_REV * MICROSTEPS / MOTOR_GEAR_TEETH / 2\n#define RAIL_LENGTH 400.0 // MAX LENGTH OF RAIL IN MM\n\n//ENDSTOP SETTINGS:\n#define X_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define Y_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define Z_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n#define E0_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED\n\n//GEAR RATIO SETTINGS\n#define MOTOR_GEAR_TEETH 20.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION\n#define MAIN_GEAR_TEETH 90.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION\n\n//EQUIPMENT SETTINGS\n#define LASER false // 12V LASER CONNECTED TO LASER_PIN\n#define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN\n#define FAN_DELAY 120 // FAN ON IN SECONDS\n\n//GRIPPER SETTINGS\n#define GRIPPER 1 //GRIPPER MOTOR IN USE\n // 0: 28BYJ-48 MICRO STEPPER MOTOR (WORKS ON BOARD_CHOICE MEGA2560 ONLY)\n // 1: 9G SERVO OR MG996 SERVO EQUIVALENT\n \n //..DO NOT CHANGE BELOW MOTOR DEFINE VALUES..//\n #define BYJ 0\n #define SERVO 1\n\n//28BYJ GRIPPER SETTINGS\n#define BYJ_GRIP_STEPS 1200 //FTOBLER: 1200\n//SERVO GRIPPER SETTINGS\n#define SERVO_GRIP_DEGREE 90.0\n#define SERVO_UNGRIP_DEGREE 0.0\n\n//COMMAND QUEUE SETTINGS\n#define QUEUE_SIZE 15\n\n//PRINT REPLY SETTING\n#define PRINT_REPLY false // \"true\" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED\n#define PRINT_REPLY_MSG \"ok\" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE\n\n//DEFAULT SPEED PROFILE SETTING \n#define SPEED_PROFILE 2 // OPTIONS BELOW\n//0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE)\n//1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION)\n//2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL TO 0, SUITABLE FOR PRESET COMMAND MOVEMENTS)\n\n//LOG SETTINGS\n#define LOG_LEVEL 2\n//0: ERROR\n//1: INFO\n//2: DEBUG\n\n//MOVE LIMIT PARAMETERS\n#define Z_MIN -140.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND\n#define Z_MAX (LOW_SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX\n#define SHANKS_MIN_ANGLE_COS 0.791436948 \n#define SHANKS_MAX_ANGLE_COS -0.774944489 \n#define R_MIN (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MIN_ANGLE_COS) ))\n#define R_MAX (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MAX_ANGLE_COS) ))\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/config_esp32.h", "content": "//ESP32 SETTINGS (FOR ESP32 USERS ONLY, OTHERWISE LEAVE UNCHANGED)\n //-------\n //TO USE WEMOSD1R32 OPTION, BOARD ESP32 V1.0.4 NEEDS TO BE INSTALLED IN ARDUINO IDE\n //TUTORIAL: www.randomnerdtutorials.com/installing-the-esp32-board-in-arduino-ide-windows-instructions/\n //-------\n //LIBARIES OF ESP32 TO BE ADDED\n // 1) ESP32Servo < www.arduino.cc/reference/en/libraries/esp32servo/ >\n // 2) PS4Controller < https://github.com/aed3/PS4-esp32 >\n //-------\n //ESP32 SUPPORTS PS4 CONTROLLER: USE 'SIXAXISPAIRTOOL' TO FIND MAC ADDRESS < https://sixaxispairtool.software.informer.com/ >\n\n//PS4 CONTROLLER TARGET MAC ADDRESS\n#define ESP32_PS4_CONTROLLER true\n#define PS4_MAC \"20:ff:fa:cc:00:ff\"\n\n//BUTTON DECLARATIONS\n#define PS4_RIGHT 0\n#define PS4_DOWN 1\n#define PS4_UP 2\n#define PS4_LEFT 3\n#define PS4_SQUARE 4\n#define PS4_CROSS 5\n#define PS4_CIRCLE 6\n#define PS4_TRIANGLE 7\n#define PS4_L1 8\n#define PS4_R1 9\n#define PS4_SHARE 10\n#define PS4_OPTIONS 11\n#define PS4_L3 12\n#define PS4_R3 13\n#define PS4_PSBUTTON 14\n#define PS4_TOUCHPAD 15\n#define PS4_LSTICKX 16\n#define PS4_LSTICKY 17\n#define PS4_RSTICKX 18\n#define PS4_RSTICKY 19\n#define PS4_L2VALUE 20\n#define PS4_R2VALUE 21\n" }, { "path": "arduino_firmware/robotArm_v0.71/controller_ps4.cpp", "content": "\n#include \n\n#include \"config_esp32.h\"\n#include \"controller_ps4.h\"\n#include \"logger.h\"\n\n#if BOARD_CHOICE == WEMOSD1R32\n#include \nController_PS4::Controller_PS4(char* aMacAddress){\n macAddress = aMacAddress;\n}\n\nvoid Controller_PS4::setup(){\n PS4.begin(macAddress);\n while (!PS4.isConnected()){\n if (PS4.isConnected()){\n Logger::logINFO(\"PS4 CONTROLLER CONNECTED\");\n break;\n }\n Logger::logINFO(\"CONNECTING TO PS4 CONTROLLER\");\n delay(1000);\n }\n}\n\nbool Controller_PS4::checkConnection(){\n return PS4.isConnected();\n}\n\nvoid Controller_PS4::update(){\n buttons[PS4_RIGHT] = PS4.Right();\n buttons[PS4_DOWN] = PS4.Down();\n buttons[PS4_UP] = PS4.Up();\n buttons[PS4_LEFT] = PS4.Left();\n buttons[PS4_SQUARE] = PS4.Square();\n buttons[PS4_CROSS] = PS4.Cross();\n buttons[PS4_CIRCLE] = PS4.Circle();\n buttons[PS4_TRIANGLE] = PS4.Triangle();\n buttons[PS4_L1] = PS4.L1();\n buttons[PS4_R1] = PS4.R1();\n buttons[PS4_SHARE] = PS4.Share();\n buttons[PS4_OPTIONS] = PS4.Options();\n buttons[PS4_L3] = PS4.L3();\n buttons[PS4_R3] = PS4.R3();\n buttons[PS4_PSBUTTON] = PS4.PSButton();\n buttons[PS4_TOUCHPAD] = PS4.Touchpad();\n buttons[PS4_LSTICKX] = PS4.LStickX();\n buttons[PS4_LSTICKY] = PS4.LStickY();\n buttons[PS4_RSTICKX] = PS4.RStickX();\n buttons[PS4_RSTICKY] = PS4.RStickY();\n buttons[PS4_L2VALUE] = PS4.L2Value();\n buttons[PS4_R2VALUE] = PS4.R2Value();\n}\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/controller_ps4.h", "content": "#ifndef CONTROLLER_PS4_H_\n#define CONTROLLER_PS4_H_\n\n#include \"config.h\"\n\n#if BOARD_CHOICE == WEMOSD1R32\n\nclass Controller_PS4 {\n public:\n Controller_PS4(char* aMacAddress);\n int buttons[22];\n void setup();\n void update();\n bool checkConnection();\n\n private:\n char* macAddress;\n};\n\n#endif\n#endif" }, { "path": "arduino_firmware/robotArm_v0.71/endstop.cpp", "content": "#include \"endstop.h\"\n#include \n\nEndstop::Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell, bool does_swap_pin){\n min_pin = a_min_pin;\n dir_pin = a_dir_pin;\n step_pin = a_step_pin;\n en_pin = a_en_pin;\n switch_input = a_switch_input;\n home_dwell = a_home_dwell;\n step_offset = a_step_offset;\n swap_pin = does_swap_pin;\n if (swap_pin == false){\n pinMode(min_pin, INPUT_PULLUP); \n }\n}\n\nvoid Endstop::home(bool dir) {\n if (swap_pin == true){\n pinMode(min_pin, INPUT_PULLUP);\n delayMicroseconds(5);\n }\n digitalWrite(en_pin, LOW);\n delayMicroseconds(5);\n if (dir==1){\n digitalWrite(dir_pin, HIGH);\n } else {\n digitalWrite(dir_pin, LOW);\n }\n delayMicroseconds(5);\n bState = !(digitalRead(min_pin) ^ switch_input);\n while (!bState) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n bState = !(digitalRead(min_pin) ^ switch_input);\n }\n homeOffset(dir);\n if (swap_pin == true){\n pinMode(min_pin, OUTPUT);\n delayMicroseconds(5);\n }\n}\n\nvoid Endstop::homeOffset(bool dir){\n if (dir==1){\n digitalWrite(dir_pin, LOW);\n }\n else{\n digitalWrite(dir_pin, HIGH);\n }\n delayMicroseconds(5);\n for (int i = 1; i <= step_offset; i++) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n }\n}\n\nvoid Endstop::oneStepToEndstop(bool dir){\n if (swap_pin == true){\n pinMode(min_pin, INPUT_PULLUP);\n }\n digitalWrite(en_pin, LOW);\n delayMicroseconds(5);\n if (dir==1){\n digitalWrite(dir_pin, HIGH);\n } else {\n digitalWrite(dir_pin, LOW);\n }\n delayMicroseconds(5);\n bState = !(digitalRead(min_pin) ^ switch_input);\n\n if (!bState) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n }\n bState = !(digitalRead(min_pin) ^ switch_input);\n}\n\nbool Endstop::state(){\n if (swap_pin == true){\n pinMode(min_pin, INPUT_PULLUP);\n delayMicroseconds(5);\n }\n bState = !(digitalRead(min_pin) ^ switch_input);\n if (swap_pin == true){\n pinMode(min_pin, OUTPUT);\n delayMicroseconds(5);\n }\n return bState;\n}" }, { "path": "arduino_firmware/robotArm_v0.71/endstop.h", "content": "#ifndef ENDSTOP_H_\n#define ENDSTOP_H_\n\nclass Endstop {\n public:\n Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell, bool does_swap_pin);\n void home(bool dir);\n void homeOffset(bool dir);\n void oneStepToEndstop(bool dir);\n bool state();\n bool bState;\n\n private:\n int min_pin;\n int dir_pin;\n int step_pin;\n int en_pin;\n int switch_input;\n int home_dwell;\n int step_offset;\n bool swap_pin; \n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/equipment.cpp", "content": "#include \"equipment.h\"\n#include \n\nEquipment::Equipment(int equipment_pin){\n pin = equipment_pin;\n pinMode(pin, OUTPUT);\n}\n\nvoid Equipment::cmdOn(){\n digitalWrite(pin, HIGH); \n}\n\nvoid Equipment::cmdOff(){\n digitalWrite(pin, LOW); \n}\n" }, { "path": "arduino_firmware/robotArm_v0.71/equipment.h", "content": "#ifndef EQUIPMENT_H_\n#define EQUIPMENT_H_\n\nclass Equipment {\npublic:\n Equipment(int equipment_pin);\n void cmdOn();\n void cmdOff();\nprivate:\n int pin;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/fanControl.cpp", "content": "#include \"fanControl.h\"\n#include \n\n\nFanControl::FanControl(int aPin, int aFanDelay) {\n fan_delay = aFanDelay * 1000;\n nextShutdown = 0;\n pin = aPin;\n pinMode(pin , OUTPUT);\n digitalWrite(pin , LOW);\n state = false;\n}\n\nvoid FanControl::enable(bool value) {\n if (value) {\n state = true;\n digitalWrite(pin, HIGH);\n } else {\n disable();\n }\n}\n\nvoid FanControl::disable() {\n state = false;\n nextShutdown = millis() + fan_delay;\n update();\n}\n\nvoid FanControl::update() {\n if (!state) {\n if (millis() >= nextShutdown) {\n digitalWrite(pin, LOW);\n }\n }\n}\n" }, { "path": "arduino_firmware/robotArm_v0.71/fanControl.h", "content": "#ifndef FANCONTROL_H_\n#define FANCONTROL_H_\n\nclass FanControl {\npublic:\n FanControl(int aPin, int aFanDelay);\n void enable(bool value = true);\n void disable();\n void update();\nprivate:\n bool state;\n int pin;\n long fan_delay;\n long nextShutdown;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/interpolation.cpp", "content": "#include \"interpolation.h\"\n#include \"config.h\"\n#include \"queue.h\"\n#include \"logger.h\"\n\nInterpolation::Interpolation(){\n speed_profile = SPEED_PROFILE;\n pos_offset.xmm = 0.0;\n pos_offset.ymm = 0.0;\n pos_offset.zmm = 0.0;\n pos_offset.emm = 0.0;\n}\n\nvoid Interpolation::setSpeedProfile(int new_speed_profile){\n speed_profile = new_speed_profile;\n}\n\n//G92 POSITION OFFSET FUNCTIONS\nvoid Interpolation::setPosOffset(float new_x, float new_y, float new_z, float new_e) {\n pos_offset.xmm = xPosmm - new_x;\n pos_offset.ymm = yPosmm - new_y;\n pos_offset.zmm = zPosmm - new_z;\n pos_offset.emm = ePosmm - new_e;\n Logger::logINFO(\"POSITION OFFSET: [X\" + String(pos_offset.xmm) + \" Y:\" + String(pos_offset.ymm) + \" Z:\" + String(pos_offset.zmm) + \" E:\" + String(pos_offset.emm) + \"]\");\n Logger::logINFO(\"CURRENT POSITION: [X:\"+String(new_x)+\" Y:\"+String(new_y)+\" Z:\"+String(new_z)+\" E:\"+String(new_e)+\"]\");\n}\n\nvoid Interpolation::resetPosOffset(){\n pos_offset.xmm = 0.0;\n pos_offset.ymm = 0.0;\n pos_offset.zmm = 0.0;\n pos_offset.emm = 0.0;\n}\n\nPoint Interpolation::getPosOffset() const {\n return pos_offset;\n}\n\n\nvoid Interpolation::setCurrentPos(float px, float py, float pz, float pe) {\n Point p;\n p.xmm = px;\n p.ymm = py;\n p.zmm = pz;\n p.emm = pe;\n setCurrentPos(p);\n}\n\nvoid Interpolation::setInterpolation(float px, float py, float pz, float pe, float v) {\n Point p;\n p.xmm = px;\n p.ymm = py;\n p.zmm = pz;\n p.emm = pe;\n setInterpolation(p, v);\n}\n\nvoid Interpolation::setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float v) {\n Point p1;\n Point p2;\n p1.xmm = p1x;\n p1.ymm = p1y;\n p1.zmm = p1z;\n p1.emm = p1e;\n p2.xmm = p2x;\n p2.ymm = p2y;\n p2.zmm = p2z;\n p2.emm = p2e;\n setInterpolation(p1, p2, v);\n}\n\nvoid Interpolation::setInterpolation(Point p1, float v) {\n Point p0;\n p0.xmm = xStartmm + xDelta;\n p0.ymm = yStartmm + yDelta;\n p0.zmm = zStartmm + zDelta;\n p0.emm = eStartmm + eDelta;\n setInterpolation(p0, p1, v);\n}\n\nvoid Interpolation::setInterpolation(Point p0, Point p1, float av) {\n v = av; //mm/s\n \n float a = (p1.xmm - p0.xmm);\n float b = (p1.ymm - p0.ymm);\n float c = (p1.zmm - p0.zmm);\n float e = abs(p1.emm - p0.emm);\n float dist = sqrt(a*a + b*b + c*c);\n\n if (dist < e) {\n dist = e; \n }\n\n if (v < 5) { //includes 0 = default value\n v = sqrt(dist) * 10; //set a good value for v\n }\n if (v < 5) {\n v = 5; \n }\n \n tmul = v / dist;\n \n xStartmm = p0.xmm;\n yStartmm = p0.ymm;\n zStartmm = p0.zmm;\n eStartmm = p0.emm;\n \n xDelta = (p1.xmm - p0.xmm);\n yDelta = (p1.ymm - p0.ymm);\n zDelta = (p1.zmm - p0.zmm);\n eDelta = (p1.emm - p0.emm);\n \n state = 0;\n \n startTime = micros();\n}\n\nvoid Interpolation::setCurrentPos(Point p) {\n xStartmm = p.xmm;\n yStartmm = p.ymm;\n zStartmm = p.zmm;\n eStartmm = p.emm;\n xDelta = 0;\n yDelta = 0;\n zDelta = 0;\n eDelta = 0;\n}\n\nvoid Interpolation::updateActualPosition() {\n if (state != 0) {\n return;\n } \n long microsek = micros();\n float t = (microsek - startTime) / 1000000.0;\n float progress;\n switch (speed_profile){\n // FLAT SPEED CURVE\n case 0:\n progress = t * tmul;\n if (progress >= 1.0){\n progress = 1.0;\n state = 1;\n }\n break;\n // ARCTAN APPROX\n case 1:\n progress = atan((PI * t * tmul) - (PI * 0.5)) * 0.5 + 0.5;\n if (progress >= 1.0) {\n progress = 1.0; \n state = 1;\n }\n break;\n // COSIN APPROX\n case 2:\n progress = -cos(t * tmul * PI) * 0.5 + 0.5;\n if ((t * tmul) >= 1.0) {\n progress = 1.0; \n state = 1;\n }\n break;\n }\n pos_tracker[X_AXIS] = xStartmm + progress * xDelta;\n pos_tracker[Y_AXIS] = yStartmm + progress * yDelta;\n pos_tracker[Z_AXIS] = zStartmm + progress * zDelta;\n pos_tracker[E_AXIS] = eStartmm + progress * eDelta;\n\n if(isAllowedPosition(pos_tracker)){\n xPosmm = pos_tracker[X_AXIS];\n yPosmm = pos_tracker[Y_AXIS];\n zPosmm = pos_tracker[Z_AXIS];\n ePosmm = pos_tracker[E_AXIS];\n } else {\n pos_tracker[X_AXIS] = xPosmm;\n pos_tracker[Y_AXIS] = yPosmm;\n pos_tracker[Z_AXIS] = zPosmm;\n pos_tracker[E_AXIS] = ePosmm;\n state = 1;\n progress = 1.0;\n xStartmm = xPosmm;\n yStartmm = yPosmm;\n zStartmm = zPosmm;\n eStartmm = ePosmm;\n xDelta = 0;\n yDelta = 0;\n zDelta = 0;\n eDelta = 0;\n }\n //FOR DECIPHERING SPEED CURVE\n //Serial.print(\"xPosmm:\");\n //Serial.print(xPosmm);\n //Serial.print(\" yPosmm:\");\n //Serial.print(yPosmm);\n //Serial.print(\" zPosmm:\");\n //Serial.println(zPosmm);\n}\n\nbool Interpolation::isFinished() const {\n return state != 0; \n}\n\nfloat Interpolation::getXPosmm() const {\n return xPosmm;\n}\n\nfloat Interpolation::getYPosmm() const {\n return yPosmm;\n}\n\nfloat Interpolation::getZPosmm() const {\n return zPosmm;\n}\n\nfloat Interpolation::getEPosmm() const {\n return ePosmm;\n}\n\nPoint Interpolation::getPosmm() const {\n Point p;\n p.xmm = xPosmm;\n p.ymm = yPosmm;\n p.zmm = zPosmm;\n p.emm = ePosmm;\n return p;\n}\n\nbool Interpolation::isAllowedPosition(float pos_tracker[4]) {\n float rrot_ee = hypot(pos_tracker[X_AXIS], pos_tracker[Y_AXIS]);\n float rrot = rrot_ee - END_EFFECTOR_OFFSET; \n float rrot_x = rrot * (pos_tracker[Y_AXIS] / rrot_ee);\n float rrot_y = rrot * (pos_tracker[X_AXIS] / rrot_ee);\n float squaredPositionModule = sq(rrot_x) + sq(rrot_y) + sq(pos_tracker[Z_AXIS]); \n\n bool retVal = (\n squaredPositionModule <= sq(R_MAX) \n && squaredPositionModule >= sq(R_MIN) \n && pos_tracker[Z_AXIS] >= Z_MIN \n && pos_tracker[Z_AXIS] <= Z_MAX \n #if RAIL\n && pos_tracker[E_AXIS] <= RAIL_LENGTH\n && pos_tracker[E_AXIS] >= 0\n #endif\n );\n if(!retVal) {\n Logger::logERROR(\"LIMIT REACHED: [X:\" + String(pos_tracker[X_AXIS]) + \" Y:\" + String(pos_tracker[Y_AXIS]) + \" Z:\" + String(pos_tracker[Z_AXIS]) + \" E:\" + String(pos_tracker[E_AXIS]) + \"]\");\n }\n return retVal;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.71/interpolation.h", "content": "#ifndef INTERPOLATION_H_\n#define INTERPOLATION_H_\n#include \n\n#define X_AXIS 0\n#define Y_AXIS 1\n#define Z_AXIS 2\n#define E_AXIS 3\n\nstruct Point {\n float xmm;\n float ymm;\n float zmm;\n float emm;\n};\nclass Interpolation {\npublic:\n //void resetInterpolation(float px, float py, float pz);\n //void resetInterpolation(float p1x, float p1y, float p1z, float p2x, float p2y, float p2z);\n //void resetInterpolation(Point p0, Point p1);\n Interpolation();\n void setCurrentPos(float px, float py, float pz, float pe);\n void setInterpolation(float px, float py, float pz, float pe, float v = 0);\n void setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float av = 0);\n \n void setCurrentPos(Point p);\n void setInterpolation(Point p1, float v = 0);\n void setInterpolation(Point p0, Point p1, float v = 0);\n \n void updateActualPosition();\n bool isFinished() const;\n \n float getXPosmm() const;\n float getYPosmm() const;\n float getZPosmm() const;\n float getEPosmm() const;\n Point getPosmm() const;\n bool isAllowedPosition(float pos_tracker[4]);\n void setPosOffset(float new_x, float new_y, float new_z, float new_e);\n void resetPosOffset();\n Point getPosOffset() const;\n int speed_profile;\n void setSpeedProfile(int new_speed_profile);\n \nprivate:\n Point pos_offset;\n float pos_tracker[4];\n byte state;\n \n long startTime; \n \n float xStartmm;\n float yStartmm;\n float zStartmm;\n float eStartmm;\n float xDelta;\n float yDelta;\n float zDelta;\n float eDelta;\n float xPosmm;\n float yPosmm;\n float zPosmm;\n float ePosmm;\n float v;\n float tmul;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/logger.cpp", "content": "#include \"config.h\"\n#include \"logger.h\"\n\nvoid Logger::log(String message, int level) {\n if(LOG_LEVEL >= level) {\n String logMsg;\n switch(level) {\n case LOG_ERROR:\n logMsg = \"ERROR: \";\n break;\n case LOG_INFO:\n logMsg = \"INFO: \";\n break;\n case LOG_DEBUG:\n logMsg = \"DEBUG: \";\n break;\n }\n logMsg = logMsg + message;\n Serial.println(logMsg);\n }\n}\n\nvoid Logger::logERROR(String message) {\n log(message, LOG_ERROR);\n}\nvoid Logger::logINFO(String message) {\n log(message, LOG_INFO);\n}\nvoid Logger::logDEBUG(String message) {\n log(message, LOG_DEBUG);\n}" }, { "path": "arduino_firmware/robotArm_v0.71/logger.h", "content": "#ifndef LOGGER_H_\n#define LOGGER_H_\n\n#include \n\n#define LOG_ERROR 0\n#define LOG_INFO 1\n#define LOG_DEBUG 2\n\nclass Logger {\n public:\n static void log(String message, int level);\n static void logINFO(String message);\n static void logERROR(String message);\n static void logDEBUG(String message);\n};\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/pinout/pinout.h", "content": "#ifndef PINOUT_H_\n#define PINOUT_H_\n\n/*\n * pinout of RAMPS 1.4\n *\n * source: http://reprap.org/wiki/RAMPS_1.4\n */\n\n//RAMPS 1.4 PINS\n#define X_STEP_PIN 54\n#define X_DIR_PIN 55\n#define X_ENABLE_PIN 38\n#define X_MIN_PIN 3\n#define X_MAX_PIN 2\n \n#define Y_STEP_PIN 60\n#define Y_DIR_PIN 61\n#define Y_ENABLE_PIN 56\n#define Y_MIN_PIN 14\n#define Y_MAX_PIN 15\n\n#define Z_STEP_PIN 46\n#define Z_DIR_PIN 48\n#define Z_ENABLE_PIN 62\n#define Z_MIN_PIN 18\n#define Z_MAX_PIN 19\n\n#define E0_STEP_PIN 26\n#define E0_DIR_PIN 28\n#define E0_ENABLE_PIN 24\n#define E0_MIN_PIN 20\n\n#define E1_STEP_PIN 36\n#define E1_DIR_PIN 34\n#define E1_ENABLE_PIN 30\n\n#define BYJ_PIN_0 40\n#define BYJ_PIN_1 63\n#define BYJ_PIN_2 59\n#define BYJ_PIN_3 64\n\n#define SERVO_PIN 4\n\n#define PUMP_PIN 8\n#define LASER_PIN 10\n#define LED_PIN 13\n\n#define SDPOWER -1\n#define SDSS 53\n\n#define FAN_PIN 9\n\n#define PS_ON_PIN 12\n#define KILL_PIN -1\n\n//#define HEATER_0_PIN 10\n//#define HEATER_1_PIN 8\n#define TEMP_0_PIN 13 // ANALOG NUMBERING\n#define TEMP_1_PIN 14 // ANALOG NUMBERING\n\n//RAMPS AUX-2\n\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/pinout/pinout_uno.h", "content": "#ifndef PINOUT_UNO_H_\n#define PINOUT_UNO_H_\n\n#define X_STEP_PIN 2\n#define X_DIR_PIN 5\n#define X_ENABLE_PIN 8\n#define X_MIN_PIN 9\n#define X_MAX_PIN -1\n \n#define Y_STEP_PIN 3\n#define Y_DIR_PIN 6\n#define Y_ENABLE_PIN 8\n#define Y_MIN_PIN 10\n#define Y_MAX_PIN -1\n\n#define Z_STEP_PIN 4\n#define Z_DIR_PIN 7\n#define Z_ENABLE_PIN 8\n#define Z_MIN_PIN 11 \n#define Z_MAX_PIN -1\n\n#define E0_STEP_PIN 12\n#define E0_DIR_PIN 13\n#define E0_ENABLE_PIN 8\n#define E0_MIN_PIN 16 //A2 PIN //UNO ANALOG PIN CAN FUNCTION AS DIGITAL PIN\n\n#define E1_STEP_PIN -1\n#define E1_DIR_PIN -1\n#define E1_ENABLE_PIN -1\n\n#define BYJ_PIN_0 -1 \n#define BYJ_PIN_1 -1 \n#define BYJ_PIN_2 -1 \n#define BYJ_PIN_3 -1\n\n\n#define SERVO_PIN 17 //A3 PIN //UNO ANALOG PIN CAN FUNCTION AS DIGITAL PIN\n\n#define PUMP_PIN -1\n#define LASER_PIN -1\n#define LED_PIN -1\n\n#define SDPOWER -1\n#define SDSS -1\n\n#define FAN_PIN -1\n\n#define PS_ON_PIN -1\n#define KILL_PIN -1\n\n#define TEMP_0_PIN -1 // ANALOG NUMBERING\n#define TEMP_1_PIN -1 // ANALOG NUMBERING\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/pinout/pinout_wemosD1R32.h", "content": "#ifndef PINOUT_ESP32WEMOS_H_\n#define PINOUT_ESP32WEMOS_H_\n\n#define X_STEP_PIN 26\n#define X_DIR_PIN 16 //SHARE WITH E0_MIN_PIN\n#define X_ENABLE_PIN 12\n#define X_MIN_PIN 13\n#define X_MAX_PIN -1\n \n#define Y_STEP_PIN 25\n#define Y_DIR_PIN 27\n#define Y_ENABLE_PIN 12\n#define Y_MIN_PIN 5\n#define Y_MAX_PIN -1\n\n#define Z_STEP_PIN 17\n#define Z_DIR_PIN 14\n#define Z_ENABLE_PIN 12\n#define Z_MIN_PIN 23 //SHARE WITH SERVO_PIN\n#define Z_MAX_PIN -1\n\n#define E0_STEP_PIN 19\n#define E0_DIR_PIN 18\n#define E0_ENABLE_PIN 12\n#define E0_MIN_PIN 16 //SHARE WITH X_DIR_PIN\n\n#define E1_STEP_PIN -1\n#define E1_DIR_PIN -1\n#define E1_ENABLE_PIN -1\n\n#define BYJ_PIN_0 -1\n#define BYJ_PIN_1 -1\n#define BYJ_PIN_2 -1\n#define BYJ_PIN_3 -1\n\n#define SERVO_PIN 23 //SHARE WITH Z_MIN_PIN\n\n#define PUMP_PIN -1\n#define LASER_PIN -1\n#define LED_PIN -1\n\n#define SDPOWER -1\n#define SDSS -1\n\n#define FAN_PIN -1\n\n#define PS_ON_PIN -1\n#define KILL_PIN -1\n\n#define TEMP_0_PIN -1\n#define TEMP_1_PIN -1\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/queue.h", "content": "#ifndef QUEUE_H_\n#define QUEUE_H_\n\ntemplate class Queue {\npublic:\n Queue(int alen);\n ~Queue();\n bool push(Element elem);\n Element pop();\n bool isFull() const;\n bool isEmpty() const;\n int getFreeSpace() const;\n int getMaxLength() const;\n inline int getUsedSpace() const;\nprivate:\n Queue(Queue& q); //copy const.\n Element* data;\n int len;\n int start;\n int count;\n};\n\ntemplate \nQueue::Queue(int alen) {\n data = new Element[alen];\n len = alen;\n start = 0;\n count = 0;\n}\n\ntemplate \nQueue::~Queue() {\n delete data;\n}\n\ntemplate \nQueue::Queue(Queue& q) {\n //nothing ever is allowed to do something here\n}\n\ntemplate \nbool Queue::push(Element elem) {\n data[(start + count++) % len] = elem;\n}\n\ntemplate \nElement Queue::pop() {\n count--;\n int s = start;\n start = (start + 1) % len;\n return data[(s) % len];\n}\n\ntemplate \nbool Queue::isFull() const {\n return count >= len;\n}\n\ntemplate \nbool Queue::isEmpty() const {\n return count <= 0;\n}\n\ntemplate \nint Queue::getFreeSpace() const {\n return len - count;\n}\n\ntemplate \nint Queue::getMaxLength() const {\n return len;\n}\n\ntemplate \nint Queue::getUsedSpace() const {\n return count;\n}\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/robotArm_v0.71.ino", "content": "//20SFFACTORY COMMUNITY ROBOT FIRMWARE\n\n//MAINTAINER: LEOYEUNG@20SFFACTORY\n//CONTACT: yeung.kl.leo@gmail.com\n//FORUM: www.facebook.com/groups/robotarm\n//DOCUMENTATION: www.20sffactory.com/robot/resource\n\n//VERSION: V0.71\n\n//VERSION HISTORY:\n// V0.31 WITH G92, M114, LOGGER, LIMIT_CHECK FUNCTIONS\n// V0.41 WITH DUAL SHANK LENGTH SUPPORT\n// V0.51 WITH SERVO GRIPPER\n// V0.61 WITH ARDUINO UNO OPTION\n// V0.71 WITH:\n// ESP32(WEMOS D1R32) WITH PS4 JOYSTICK CONTROL OPTION\n// COMMAND TO SET CUSTOM SPEED PROFILE 'M205 S0'\n// UNO OPTION WITH RAIL SUPPORT\n\n#include \n//GENERAL CONFIG SETTINGS\n#include \"config.h\"\n\n#include \"robotGeometry.h\"\n#include \"interpolation.h\"\n#include \"RampsStepper.h\"\n#include \"queue.h\"\n#include \"command.h\"\n#include \"equipment.h\"\n#include \"endstop.h\"\n#include \"logger.h\"\n#include \"fanControl.h\"\n//INCLUDE CORRESPONDING GRIPPER MOTOR CLASS\n#if GRIPPER == SERVO\n #include \"servo_gripper.h\"\n#elif GRIPPER == BYJ\n #include \"byj_gripper.h\"\n#endif\n\n//DETERMINE PINOUTS & CONFIG TO USE SUBJECT TO BOARD_CHOICE\n#if BOARD_CHOICE == UNO\n #include \"pinout/pinout_uno.h\"\n#elif BOARD_CHOICE == WEMOSD1R32\n #include \"pinout/pinout_wemosD1R32.h\"\n #include \"config_esp32.h\"\n#elif BOARD_CHOICE == MEGA2560\n #include \"pinout/pinout.h\"\n#endif\n\n//STEPPER OBJECTS\nRampsStepper stepperHigher(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, INVERSE_X_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV);\nRampsStepper stepperLower(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, INVERSE_Y_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV);\nRampsStepper stepperRotate(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, INVERSE_Z_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV);\n\n//RAIL OBJECTS\n#if RAIL\n RampsStepper stepperRail(E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, INVERSE_E0_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV);\n #if BOARD_CHOICE == WEMOSD1R32 //PINSWAP REQIURED ON D1R32 DUE TO INSUFFICIENT DIGIAL PINS\n Endstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL, true);\n #else \n Endstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL, false);\n #endif\n#endif\n\n//ENDSTOP OBJECTS\nEndstop endstopX(X_MIN_PIN, X_DIR_PIN, X_STEP_PIN, X_ENABLE_PIN, X_MIN_INPUT, X_HOME_STEPS, HOME_DWELL, false);\nEndstop endstopY(Y_MIN_PIN, Y_DIR_PIN, Y_STEP_PIN, Y_ENABLE_PIN, Y_MIN_INPUT, Y_HOME_STEPS, HOME_DWELL, false);\n#if BOARD_CHOICE == WEMOSD1R32\n Endstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL, true);\n#else\n Endstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL, false);\n#endif\n\n//EQUIPMENT OBJECTS\n#if GRIPPER == SERVO\n Servo_Gripper servo_gripper(SERVO_PIN, SERVO_GRIP_DEGREE, SERVO_UNGRIP_DEGREE);\n#elif GRIPPER == BYJ\n BYJ_Gripper byj_gripper(BYJ_PIN_0, BYJ_PIN_1, BYJ_PIN_2, BYJ_PIN_3, BYJ_GRIP_STEPS);\n#endif\nEquipment laser(LASER_PIN);\nEquipment pump(PUMP_PIN);\nEquipment led(LED_PIN);\nFanControl fan(FAN_PIN, FAN_DELAY);\n\n//EXECUTION & COMMAND OBJECTS\nRobotGeometry geometry(END_EFFECTOR_OFFSET, LOW_SHANK_LENGTH, HIGH_SHANK_LENGTH);\nInterpolation interpolator;\nQueue queue(QUEUE_SIZE);\nCommand command;\n\n//PS4 CONTROLLER OBJECT FOR ESP32\n#if BOARD_CHOICE == WEMOSD1R32 && ESP32_PS4_CONTROLLER\n #include \"controller_ps4.h\"\n Controller_PS4 controller_ps4(PS4_MAC);\n#endif\n\nvoid setup()\n{\n Serial.begin(BAUD);\n #if BOARD_CHOICE == WEMOSD1R32 && ESP32_PS4_CONTROLLER\n controller_ps4.setup();\n #endif\n stepperHigher.setPositionRad(PI / 2.0); // 90°\n stepperLower.setPositionRad(0); // 0°\n stepperRotate.setPositionRad(0); // 0°\n #if RAIL\n stepperRail.setPosition(0);\n #endif\n if (HOME_ON_BOOT) { //HOME DURING SETUP() IF HOME_ON_BOOT ENABLED\n homeSequence(); \n Logger::logINFO(\"ROBOT ONLINE\");\n } else {\n setStepperEnable(false); //ROBOT ADJUSTABLE BY HAND AFTER TURNING ON\n if (HOME_X_STEPPER && HOME_Y_STEPPER && !HOME_Z_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"ROTATE ROBOT TO FACE FRONT CENTRE & SEND G28 TO CALIBRATE\");\n }\n if (HOME_X_STEPPER && HOME_Y_STEPPER && HOME_Z_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"SEND G28 TO CALIBRATE\");\n }\n if (!HOME_X_STEPPER && !HOME_Y_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"HOME ROBOT MANUALLY & SEND G28 TO CALIBRATE\");\n }\n }\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n}\n\nvoid loop() {\n interpolator.updateActualPosition();\n geometry.set(interpolator.getXPosmm(), interpolator.getYPosmm(), interpolator.getZPosmm());\n stepperRotate.stepToPositionRad(geometry.getRotRad());\n stepperLower.stepToPositionRad(geometry.getLowRad());\n stepperHigher.stepToPositionRad(geometry.getHighRad());\n #if RAIL\n stepperRail.stepToPositionMM(interpolator.getEPosmm(), STEPS_PER_MM_RAIL);\n #endif\n stepperRotate.update();\n stepperLower.update();\n stepperHigher.update();\n #if RAIL\n stepperRail.update();\n #endif\n fan.update();\n\n if (!queue.isFull()) {\n if (command.handleGcode()) {\n queue.push(command.getCmd());\n }\n }\n if ((!queue.isEmpty()) && interpolator.isFinished()) {\n executeCommand(queue.pop());\n if (PRINT_REPLY) {\n Serial.println(PRINT_REPLY_MSG);\n }\n }\n\n if (millis() % 500 < 250) {\n led.cmdOn();\n }\n else {\n led.cmdOff();\n }\n\n #if BOARD_CHOICE == WEMOSD1R32 && ESP32_PS4_CONTROLLER\n ps4_controller_loop();\n #endif\n}\n\nvoid executeCommand(Cmd cmd) {\n\n if (cmd.id == -1) {\n printErr();\n return;\n }\n\n if (cmd.id == 'G') {\n switch (cmd.num) {\n case 0:\n case 1:\n fan.enable(true);\n Point posoffset;\n posoffset = interpolator.getPosOffset(); \n cmdMove(cmd, interpolator.getPosmm(), posoffset, command.isRelativeCoord);\n interpolator.setInterpolation(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE, cmd.valueF);\n Logger::logINFO(\"LINEAR MOVE: [X:\" + String(cmd.valueX-posoffset.xmm) + \" Y:\" + String(cmd.valueY-posoffset.ymm) + \" Z:\" + String(cmd.valueZ-posoffset.zmm) + \" E:\" + String(cmd.valueE-posoffset.emm)+\"]\");\n break;\n case 4: cmdDwell(cmd); break;\n case 28: \n if (BOARD_CHOICE == UNO || BOARD_CHOICE == WEMOSD1R32){\n homeSequence_UNO();\n break;\n } else {\n homeSequence();\n break;\n }\n case 90: command.cmdToAbsolute(); break; // ABSOLUTE COORDINATE MODE\n case 91: command.cmdToRelative(); break; // RELATIVE COORDINATE MODE\n case 92: \n interpolator.resetPosOffset();\n cmdMove(cmd, interpolator.getPosmm(), interpolator.getPosOffset(), false);\n interpolator.setPosOffset(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE);\n break;\n default: printErr();\n }\n }\n else if (cmd.id == 'M') {\n switch (cmd.num) {\n case 1: pump.cmdOn(); break;\n case 2: pump.cmdOff(); break;\n case 3: \n #if GRIPPER == BYJ\n byj_gripper.cmdOn(); break;\n #elif GRIPPER == SERVO\n servo_gripper.cmdOn(); break;\n #endif\n case 5:\n #if GRIPPER == BYJ\n byj_gripper.cmdOff(); break;\n #elif GRIPPER == SERVO\n servo_gripper.cmdOff(); break;\n #endif\n case 6: laser.cmdOn(); break;\n case 7: laser.cmdOff(); break;\n case 17: setStepperEnable(true); break;\n case 18: setStepperEnable(false); break;\n case 106: fan.enable(true); break;\n case 107: fan.enable(false); break;\n case 114: command.cmdGetPosition(interpolator.getPosmm(), interpolator.getPosOffset(), stepperHigher.getPosition(), stepperLower.getPosition(), stepperRotate.getPosition()); break;// Return the current positions of all axis \n case 119: {\n String endstopMsg = \"ENDSTOP: [X:\";\n endstopMsg += String(endstopX.state());\n endstopMsg += \" Y:\";\n endstopMsg += String(endstopY.state());\n endstopMsg += \" Z:\";\n endstopMsg += String(endstopZ.state());\n #if RAIL\n endstopMsg += \" E:\";\n endstopMsg += String(endstopE0.state());\n #endif\n endstopMsg += \"]\";\n //ORIGINAL LOG STRING UNDESIRABLE FOR UNO PROCESSING\n //Logger::logINFO(\"ENDSTOP STATE: [UPPER_SHANK(X):\"+String(endstopX.state())+\" LOWER_SHANK(Y):\"+String(endstopY.state())+\" ROTATE_GEAR(Z):\"+String(endstopZ.state())+\"]\");\n Logger::logINFO(endstopMsg);\n break;}\n case 205:\n interpolator.setSpeedProfile(cmd.valueS); \n Logger::logINFO(\"SPEED PROFILE: [\" + String(interpolator.speed_profile) + \"]\");\n break;\n default: printErr();\n }\n }\n else {\n printErr();\n }\n}\n\nvoid setStepperEnable(bool enable){\n stepperRotate.enable(enable);\n stepperLower.enable(enable);\n stepperHigher.enable(enable);\n #if RAIL\n stepperRail.enable(enable);\n #endif\n fan.enable(enable);\n}\n\nvoid homeSequence(){\n setStepperEnable(false);\n fan.enable(true);\n if (HOME_Y_STEPPER && HOME_X_STEPPER){\n endstopY.home(!INVERSE_Y_STEPPER);\n endstopX.home(!INVERSE_X_STEPPER);\n } else {\n setStepperEnable(true);\n endstopY.homeOffset(!INVERSE_Y_STEPPER);\n endstopX.homeOffset(!INVERSE_X_STEPPER);\n }\n if (HOME_Z_STEPPER){\n endstopZ.home(INVERSE_Z_STEPPER);\n }\n #if RAIL\n if (HOME_E0_STEPPER){\n endstopE0.home(!INVERSE_E0_STEPPER);\n }\n #endif\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n Logger::logINFO(\"HOMING COMPLETE\");\n}\n\n//DUE TO UNO CNC SHIELD LIMIT, 1 EN PIN SERVES 3 MOTORS, HENCE DIFFERENT HOMESEQUENCE IS REQUIRED\nvoid homeSequence_UNO(){\n #if GRIPPER == SERVO\n if (servo_gripper.readDegree() != SERVO_UNGRIP_DEGREE){\n servo_gripper.cmdOff();\n }\n #endif\n if (HOME_Y_STEPPER && HOME_X_STEPPER){\n while (!endstopY.state() || !endstopX.state()){\n endstopY.oneStepToEndstop(!INVERSE_Y_STEPPER);\n endstopX.oneStepToEndstop(!INVERSE_X_STEPPER);\n }\n endstopY.homeOffset(!INVERSE_Y_STEPPER);\n endstopX.homeOffset(!INVERSE_X_STEPPER);\n } else {\n setStepperEnable(true);\n endstopY.homeOffset(!INVERSE_Y_STEPPER);\n endstopX.homeOffset(!INVERSE_X_STEPPER);\n }\n if (HOME_Z_STEPPER){\n endstopZ.home(INVERSE_Z_STEPPER); //INDICATE STEPPER HOMING DIRECDTION\n }\n #if RAIL\n if (HOME_E0_STEPPER){\n endstopE0.home(!INVERSE_E0_STEPPER);\n }\n #endif\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n Logger::logINFO(\"HOMING COMPLETE\");\n}\n\n#if BOARD_CHOICE == WEMOSD1R32 && ESP32_PS4_CONTROLLER\nvoid ps4_controller_loop(){\n controller_ps4.update();\n interpolator.speed_profile = 0;\n if (controller_ps4.buttons[PS4_CROSS]){if (GRIPPER == 1){servo_gripper.cmdOn();}}\n if (controller_ps4.buttons[PS4_CIRCLE]){if (GRIPPER == 1){servo_gripper.cmdOff();}}\n if (controller_ps4.buttons[PS4_OPTIONS]){setStepperEnable(true);}\n if (controller_ps4.buttons[PS4_SHARE]){setStepperEnable(false);}\n if (controller_ps4.buttons[PS4_TOUCHPAD]){homeSequence_UNO();}\n float x_distance = 0.0;\n float y_distance = 0.0;\n float z_distance = 0.0;\n float e_distance = 0.0;\n if (abs(controller_ps4.buttons[PS4_RSTICKY]) > 10){\n z_distance = float(controller_ps4.buttons[PS4_RSTICKY]) / 2500.0;\n }\n if (abs(controller_ps4.buttons[PS4_LSTICKX]) > 10){\n float turn_rad = float(controller_ps4.buttons[PS4_LSTICKX]) / 300000.0;\n x_distance += sin(geometry.getRotRad() + turn_rad) * geometry.getHypot() - interpolator.getXPosmm();\n y_distance += cos(geometry.getRotRad() + turn_rad) * geometry.getHypot() - interpolator.getYPosmm();\n }\n if (abs(controller_ps4.buttons[PS4_LSTICKY]) > 10){\n float hp_distance = float(controller_ps4.buttons[PS4_LSTICKY]) / 2500.0;\n float hp_ratio = hp_distance / geometry.getHypot();\n x_distance += interpolator.getXPosmm() * hp_ratio;\n y_distance += interpolator.getYPosmm() * hp_ratio;\n }\n if (abs(controller_ps4.buttons[PS4_L2VALUE]) > 10){\n e_distance -= float(controller_ps4.buttons[PS4_L2VALUE]) / 10000.0;\n }\n if (abs(controller_ps4.buttons[PS4_R2VALUE]) > 10){\n e_distance += float(controller_ps4.buttons[PS4_R2VALUE]) / 10000.0;\n }\n if (x_distance || y_distance || z_distance || e_distance){\n interpolator.speed_profile = 0;\n interpolator.setInterpolation(interpolator.getXPosmm()+x_distance, interpolator.getYPosmm()+y_distance, interpolator.getZPosmm()+z_distance, interpolator.getEPosmm()+e_distance, 5);\n }\n}\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/robotGeometry.cpp", "content": "#include \"robotGeometry.h\"\n\n#include \n#include \n\nRobotGeometry::RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_shank_length) {\n ee_offset = a_ee_offset;\n low_shank_length = a_low_shank_length;\n high_shank_length = a_high_shank_length;\n}\n\nvoid RobotGeometry::set(float axmm, float aymm, float azmm) {\n xmm = axmm;\n ymm = aymm;\n zmm = azmm; \n calculateGrad();\n}\n\nfloat RobotGeometry::getXmm() const {\n return xmm;\n}\n\nfloat RobotGeometry::getYmm() const {\n return ymm;\n}\n\nfloat RobotGeometry::getZmm() const {\n return zmm;\n}\n\nfloat RobotGeometry::getRotRad() const {\n return rot;\n}\n\nfloat RobotGeometry::getLowRad() const {\n return low;\n}\n\nfloat RobotGeometry::getHighRad() const {\n return high;\n}\n\nfloat RobotGeometry::getHypot() const {\n return rrot_ee;\n}\n\nvoid RobotGeometry::calculateGrad() {\n rrot_ee = hypot(xmm, ymm); \n float rrot = rrot_ee - ee_offset; //radius from Top View\n float rside = hypot(rrot, zmm); //radius from Side View. Use rrot instead of ymm..for everything\n float rside_2 = sq(rside);\n float low_2 = sq(low_shank_length);\n float high_2 = sq(high_shank_length);\n \n rot = asin(xmm / rrot_ee);\n high = PI - acos((low_2 + high_2 - rside_2) / (2 * low_shank_length * high_shank_length));\n\n //Angle of Lower Stepper Motor (asin()=Angle To Gripper)\n if (zmm > 0) {\n low = acos(zmm / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside));\n } else {\n low = PI - asin(rrot / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside));\n }\n high = high + low;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.71/robotGeometry.h", "content": "#ifndef ROBOTGEOMETRY_H_\n#define ROBOTGEOMETRY_H_\n\nclass RobotGeometry {\npublic:\n RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_length);\n void set(float axmm, float aymm, float azmm);\n float getXmm() const;\n float getYmm() const;\n float getZmm() const;\n float getRotRad() const;\n float getLowRad() const;\n float getHighRad() const;\n float getHypot() const;\nprivate:\n void calculateGrad();\n float ee_offset;\n float low_shank_length;\n float high_shank_length;\n float xmm;\n float ymm;\n float zmm;\n float rot;\n float low;\n float high;\n float rrot_ee;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.71/servo_gripper.cpp", "content": "#include \"servo_gripper.h\"\n#include \"config.h\"\n\n#include \n\n#if BOARD_CHOICE == WEMOSD1R32\n #include \n#else \n #include \n#endif\n\nServo_Gripper::Servo_Gripper(int pin, float grip_degree, float ungrip_degree){\n servo_pin = pin;\n servo_grip_deg = grip_degree;\n servo_ungrip_deg = ungrip_degree;\n Servo servo_motor;\n}\n\nvoid Servo_Gripper::cmdOn(){\n servo_motor.attach(servo_pin);\n delayMicroseconds(10);\n servo_motor.write(servo_grip_deg);\n delay(300);\n //servo_motor.detach();\n}\n\nvoid Servo_Gripper::cmdOff(){\n //servo_motor.attach(servo_pin);\n servo_motor.write(servo_ungrip_deg);\n delay(300);\n servo_motor.detach();\n delayMicroseconds(50);\n}\n\nfloat Servo_Gripper::readDegree(){\n float servo_current_degree = servo_motor.read();\n return servo_current_degree;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.71/servo_gripper.h", "content": "#ifndef SERVO_GRIPPER_H_\n#define SERVO_GRIPPER_H_\n\n#include \"config.h\"\n\n#if BOARD_CHOICE == WEMOSD1R32\n #include \n#else \n #include \n#endif\n\nclass Servo_Gripper{\npublic:\n Servo_Gripper(int pin, float grip_degree, float ungrip_degree);\n void cmdOn();\n void cmdOff();\n float readDegree();\nprivate:\n Servo servo_motor;\n int servo_pin;\n float servo_grip_deg;\n float servo_ungrip_deg;\n};\n\n#endif" }, { "path": "arduino_firmware/robotArm_v0.81/RampsStepper.cpp", "content": "#include \n#include \"RampsStepper.h\"\n\nRampsStepper::RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse, float main_gear_teeth, float motor_gear_teeth, int microsteps, int steps_per_rev) {\n setReductionRatio(main_gear_teeth / motor_gear_teeth, microsteps * steps_per_rev);\n stepPin = aStepPin;\n dirPin = aDirPin;\n enablePin = aEnablePin;\n inverse = aInverse;\n stepperStepPosition = 0;\n stepperStepTargetPosition;\n pinMode(stepPin, OUTPUT);\n pinMode(dirPin, OUTPUT);\n pinMode(enablePin, OUTPUT);\n enable(false);\n}\n\nvoid RampsStepper::enable(bool value) {\n digitalWrite(enablePin, !value);\n}\n\nbool RampsStepper::isOnPosition() const {\n return stepperStepPosition == stepperStepTargetPosition;\n}\n\nint RampsStepper::getPosition() const {\n return stepperStepPosition;\n}\n\nvoid RampsStepper::setPosition(int value) {\n stepperStepPosition = value;\n stepperStepTargetPosition = value;\n}\n\nvoid RampsStepper::stepToPosition(int value) {\n stepperStepTargetPosition = value;\n}\n\nvoid RampsStepper::stepToPositionMM(float mm, float steps_per_mm) {\n stepperStepTargetPosition = mm * steps_per_mm;\n}\n\nvoid RampsStepper::stepRelative(int value) {\n value += stepperStepPosition;\n stepToPosition(value);\n}\n\nfloat RampsStepper::getPositionRad() const {\n return stepperStepPosition / radToStepFactor;\n}\n\nvoid RampsStepper::setPositionRad(float rad) {\n setPosition(rad * radToStepFactor);\n}\n\nvoid RampsStepper::stepToPositionRad(float rad) {\n stepperStepTargetPosition = rad * radToStepFactor;\n}\n\nvoid RampsStepper::stepRelativeRad(float rad) {\n stepRelative(rad * radToStepFactor);\n}\n\nvoid RampsStepper::update() { \n while (stepperStepTargetPosition < stepperStepPosition) { \n digitalWrite(dirPin, !inverse);\n digitalWrite(stepPin, HIGH);\n digitalWrite(stepPin, LOW);\n stepperStepPosition--;\n }\n \n while (stepperStepTargetPosition > stepperStepPosition) { \n digitalWrite(dirPin, inverse);\n digitalWrite(stepPin, HIGH);\n digitalWrite(stepPin, LOW);\n stepperStepPosition++;\n }\n}\n\nvoid RampsStepper::setReductionRatio(float gearRatio, int stepsPerRev) {\n radToStepFactor = gearRatio * stepsPerRev / 2 / PI;\n};\n" }, { "path": "arduino_firmware/robotArm_v0.81/RampsStepper.h", "content": "#ifndef RAMPSSTEPPER_H_\n#define RAMPSSTEPPER_H_\n\nclass RampsStepper {\npublic:\n RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse, float main_gear_teeth, float motor_gear_teeth, int microsteps, int steps_per_rev);\n void enable(bool value = true);\n \n bool isOnPosition() const;\n int getPosition() const;\n void setPosition(int value);\n void stepToPosition(int value);\n void stepToPositionMM(float mm, float steps_per_mm);\n void stepRelative(int value);\n float getPositionRad() const;\n void setPositionRad(float rad);\n void stepToPositionRad(float rad);\n void stepRelativeRad(float rad);\n \n void update();\n \n void setReductionRatio(float gearRatio, int stepsPerRev);\nprivate:\n int stepperStepTargetPosition;\n int stepperStepPosition;\n int stepPin;\n int dirPin;\n int enablePin; \n bool inverse;\n float radToStepFactor;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/byj_gripper.cpp", "content": "#include \"byj_gripper.h\"\n#include \n\nBYJ_Gripper::BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps){\n grip_steps = steps;\n byj_pin_0 = pin0;\n byj_pin_1 = pin1;\n byj_pin_2 = pin2;\n byj_pin_3 = pin3;\n step_cycle = 0;\n pinMode(byj_pin_0, OUTPUT);\n pinMode(byj_pin_1, OUTPUT);\n pinMode(byj_pin_2, OUTPUT);\n pinMode(byj_pin_3, OUTPUT);\n}\n\nvoid BYJ_Gripper::cmdOn() {\n direction = true;\n for (int i = 1; i <= grip_steps; i++) {\n moveSteps();\n delay(1);\n }\n}\n\nvoid BYJ_Gripper::cmdOff() {\n direction = false;\n for (int i = 1; i <= grip_steps; i++) {\n moveSteps();\n delay(1);\n }\n}\n\nvoid BYJ_Gripper::setDirection(){\n if (direction == true) {\n step_cycle++;\n }\n if (direction == false) {\n step_cycle--;\n }\n if (step_cycle > 7) {\n step_cycle = 0;\n }\n if (step_cycle < 0) {\n step_cycle = 7;\n }\n}\n\nvoid BYJ_Gripper::moveSteps() {\n switch (step_cycle) {\n case 0:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, HIGH);\n break;\n case 1:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, HIGH);\n break;\n case 2:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 3:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, HIGH);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 4:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 5:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, HIGH);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 6:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n case 7:\n digitalWrite(byj_pin_0, HIGH);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, HIGH);\n break;\n default:\n digitalWrite(byj_pin_0, LOW);\n digitalWrite(byj_pin_1, LOW);\n digitalWrite(byj_pin_2, LOW);\n digitalWrite(byj_pin_3, LOW);\n break;\n }\n setDirection();\n}\n" }, { "path": "arduino_firmware/robotArm_v0.81/byj_gripper.h", "content": "#ifndef BYJ_GRIPPER_H_\n#define BYJ_GRIPPER_H_\n\n\nclass BYJ_Gripper {\npublic:\n BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps);\n void cmdOn();\n void cmdOff();\nprivate:\n bool direction;\n void moveSteps();\n void setDirection();\n int byj_pin_0;\n int byj_pin_1;\n int byj_pin_2;\n int byj_pin_3;\n int grip_steps;\n int step_cycle;\n};\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/command.cpp", "content": "#include \"command.h\"\n#include \"logger.h\"\n#include \n\nCommand::Command() {\n //initialize Command to a zero-move value;\n new_command.valueX = NAN; \n new_command.valueY = NAN;\n new_command.valueZ = NAN;\n new_command.valueF = 0;\n new_command.valueE = NAN;\n new_command.valueS = 0;\n message = \"\";\n isRelativeCoord = false;\n}\n\nbool Command::handleGcode() {\n if (Serial.available()) {\n char c = Serial.read();\n if (c == '\\n') {\n return false; \n }\n if (c == '\\r') {\n bool b = processMessage(message);\n message = \"\";\n return b;\n } else {\n message += c; \n }\n }\n return false;\n}\n\nbool Command::processMessage(String msg){\n\n new_command.valueX = NAN; \n new_command.valueY = NAN;\n new_command.valueZ = NAN;\n new_command.valueE = NAN;\n new_command.valueF = 0;\n new_command.valueS = 0; \n msg.toUpperCase();\n msg.replace(\" \", \"\");\n int active_index = 0;\n new_command.id = msg[active_index];\n if((new_command.id != 'G') && (new_command.id != 'M')){\n printErr();\n return false;\n }\n\n active_index++;\n int temp_index = active_index;\n while (temp_index\n#include \"interpolation.h\"\n\nstruct Cmd {\n char id;\n int num;\n float valueX;\n float valueY;\n float valueZ;\n float valueF;\n float valueE;\n float valueS; \n};\n\nclass Command {\n public:\n Command();\n bool handleGcode();\n bool processMessage(String msg);\n void value_segment(String msg_segment);\n Cmd getCmd() const;\n void cmdGetPosition(Point pos, Point pos_offset, float highRad, float lowRad, float rotRad);\n void cmdToRelative();\n void cmdToAbsolute();\n bool isRelativeCoord;\n Cmd new_command;\n\n private: \n String message;\n};\n\nvoid cmdMove(Cmd(&cmd), Point pos, Point pos_offset, bool isRelativeCoord);\nvoid cmdDwell(Cmd(&cmd));\nvoid printErr();\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/config.h", "content": "#ifndef CONFIG_H_\n#define CONFIG_H_\n\n//SERIAL SETTINGS\n#define BAUD 115200\n\n//CHOICE OF MCU BOARDS TO DRIVE ROBOT. BY DEFAULT: 0 (MEGA2560)\n#define BOARD_CHOICE WEMOSD1R32\n //CHOICES: \n // MEGA2560\n // UNO\n // WEMOSD1R32\n \n //..DO NOT CHANGE BELOW BOARD VALUES..//\n #define MEGA2560 0 //ARDUINO MEGA2560 & RAMPS 1.4\n #define UNO 1 //ARDUINO UNO & CNC SHIELD\n #define WEMOSD1R32 2 //ESP32 - WEMOS D1 R32 & CNC SHIELD\n //PLEASE SEE & ADJUST ESP32 PARAMETERS IN [config_esp32.h]\n\n//ROBOT ARM LENGTH\n//#define SHANK_LENGTH 140.0\n#define LOW_SHANK_LENGTH 120.0\n#define HIGH_SHANK_LENGTH 120.0\n\n#define END_EFFECTOR_OFFSET 54.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM\n\n//INITIAL INTERPOLATION SETTINGS\n// INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES\n#define INITIAL_X 0.0 // CARTESIAN COORDINATE X \n#define INITIAL_Y (HIGH_SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y\n#define INITIAL_Z LOW_SHANK_LENGTH // CARTESIAN COORDINATE Z\n\n#define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION \n\n// CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS\n#define X_HOME_STEPS 1020 //765 //860 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM\n#define Y_HOME_STEPS 1900 //1940 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM\n#define Z_HOME_STEPS 3640 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER\n#define E0_HOME_STEPS 500 // STEPS FROM E0_ENDSTOP TO INITIAL_E0\n\n//HOMING SETTINGS:\n#define HOME_X_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Y_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_Z_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_E0_STEPPER true // \"true\" IF ENDSTOP IS INSTALLED\n#define HOME_ON_BOOT false // \"true\" IF HOMING REQUIRED AFTER POWER ON\n#define HOME_DWELL 800 // INCREASE TO SLOW DOWN HOMING SPEED\n\n//STEPPER SETTINGS:\n#define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4\n#define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION\n#define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY\n#define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY\n\n//RAIL SETTINGS:\n#define RAIL false // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY.\n#define STEPS_PER_MM_RAIL 160 // STEPS PER MM FOR RAIL MOTOR\n //FORMULA: STEPS_PER_REV * MICROSTEPS / MOTOR_GEAR_TEETH / 2\n#define RAIL_LENGTH 400.0 // MAX LENGTH OF RAIL IN MM\n\n//ENDSTOP SETTINGS:\n#define X_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED - NO: 0, NC: 1\n#define Y_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED - NO: 0, NC: 1\n#define Z_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED - NO: 0, NC: 1\n#define E0_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED - NO: 0, NC: 1\n\n//GEAR RATIO SETTINGS\n#define MOTOR_GEAR_TEETH 20.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION\n#define MAIN_GEAR_TEETH 90.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION\n\n//EQUIPMENT SETTINGS\n#define LASER false // 12V LASER CONNECTED TO LASER_PIN\n#define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN\n#define FAN_DELAY 120 // FAN ON IN SECONDS\n\n//GRIPPER SETTINGS\n#define GRIPPER 1 //GRIPPER MOTOR IN USE\n // 0: 28BYJ-48 MICRO STEPPER MOTOR (WORKS ON BOARD_CHOICE MEGA2560 ONLY)\n // 1: 9G SERVO OR MG996 SERVO EQUIVALENT\n \n //..DO NOT CHANGE BELOW MOTOR DEFINE VALUES..//\n #define BYJ 0\n #define SERVO 1\n\n//28BYJ GRIPPER SETTINGS\n#define BYJ_GRIP_STEPS 1200 //FTOBLER: 1200\n//SERVO GRIPPER SETTINGS\n#define SERVO_GRIP_DEGREE 90.0\n#define SERVO_UNGRIP_DEGREE 0.0\n\n//COMMAND QUEUE SETTINGS\n#define QUEUE_SIZE 15\n\n//PRINT REPLY SETTING\n#define PRINT_REPLY false // \"true\" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED\n#define PRINT_REPLY_MSG \"ok\" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE\n\n//DEFAULT SPEED PROFILE SETTING \n#define SPEED_PROFILE 2 // OPTIONS BELOW\n//0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE)\n//1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION)\n//2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL TO 0, SUITABLE FOR PRESET COMMAND MOVEMENTS)\n\n//LOG SETTINGS\n#define LOG_LEVEL 2\n//0: ERROR\n//1: INFO\n//2: DEBUG\n\n//MOVE LIMIT PARAMETERS\n#define Z_MIN -140.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND\n#define Z_MAX (LOW_SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX\n#define SHANKS_MIN_ANGLE_COS 0.791436948 \n#define SHANKS_MAX_ANGLE_COS -0.774944489 \n#define R_MIN (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MIN_ANGLE_COS) ))\n#define R_MAX (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MAX_ANGLE_COS) ))\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/config_esp32.h", "content": "//ESP32 SETTINGS (FOR ESP32 USERS ONLY, OTHERWISE LEAVE UNCHANGED)\n //-------\n //TO USE WEMOSD1R32 OPTION, BOARD ESP32 V1.0.4 NEEDS TO BE INSTALLED IN ARDUINO IDE\n //TUTORIAL: www.randomnerdtutorials.com/installing-the-esp32-board-in-arduino-ide-windows-instructions/\n //-------\n //LIBARIES OF ESP32 TO BE ADDED\n // 1) ESP32Servo < www.arduino.cc/reference/en/libraries/esp32servo/ >\n // 2) PS4Controller < https://github.com/aed3/PS4-esp32 >\n // 3) ESP32Wiimote https://github.com/bigw00d/Arduino-ESP32Wiimote\n //-------\n //ESP32 SUPPORTS PS4 CONTROLLER: USE 'SIXAXISPAIRTOOL' TO FIND MAC ADDRESS < https://sixaxispairtool.software.informer.com/ >\n\n#define ESP32_JOYSTICK NONE\n //CHOICES:\n // NONE < NOT USING JOYSTICK >\n // DUALSHOCK4 < PLAYSTATION 4 CONTROLLER >\n // WIIMOTE < WII REMOTE >\n\n //..DO NOT CHANGE BELOW VALUES..//\n #define NONE 0\n #define DUALSHOCK4 1\n #define WIIMOTE 2\n\n//JOYSTICK CONTROL SPEED MULTIPLIER - REDUCE TO ADJUST SENSITIVITY/SPEED\n#define JOYSTICK_SPEED_MULTIPLIER 1.0\n\n//PS4 CONTROLLER TARGET MAC ADDRESS\n#define PS4_MAC \"20:ff:fa:cc:00:ff\"\n" }, { "path": "arduino_firmware/robotArm_v0.81/controller_ps4.cpp", "content": "\n#include \n\n#include \"config_esp32.h\"\n#include \"controller_ps4.h\"\n#include \"logger.h\"\n\n#if BOARD_CHOICE == WEMOSD1R32\n#include \nController_PS4::Controller_PS4(char* aMacAddress){\n macAddress = aMacAddress;\n}\n\nvoid Controller_PS4::setup(){\n PS4.begin(macAddress);\n while (!PS4.isConnected()){\n if (PS4.isConnected()){\n Logger::logINFO(\"PS4 CONTROLLER CONNECTED\");\n break;\n }\n Logger::logINFO(\"CONNECTING TO PS4 CONTROLLER\");\n delay(1000);\n }\n}\n\nbool Controller_PS4::checkConnection(){\n return PS4.isConnected();\n}\n\nvoid Controller_PS4::update(){\n buttons[PS4_RIGHT] = PS4.Right();\n buttons[PS4_DOWN] = PS4.Down();\n buttons[PS4_UP] = PS4.Up();\n buttons[PS4_LEFT] = PS4.Left();\n buttons[PS4_SQUARE] = PS4.Square();\n buttons[PS4_CROSS] = PS4.Cross();\n buttons[PS4_CIRCLE] = PS4.Circle();\n buttons[PS4_TRIANGLE] = PS4.Triangle();\n buttons[PS4_L1] = PS4.L1();\n buttons[PS4_R1] = PS4.R1();\n buttons[PS4_SHARE] = PS4.Share();\n buttons[PS4_OPTIONS] = PS4.Options();\n buttons[PS4_L3] = PS4.L3();\n buttons[PS4_R3] = PS4.R3();\n buttons[PS4_PSBUTTON] = PS4.PSButton();\n buttons[PS4_TOUCHPAD] = PS4.Touchpad();\n buttons[PS4_LSTICKX] = PS4.LStickX();\n buttons[PS4_LSTICKY] = PS4.LStickY();\n buttons[PS4_RSTICKX] = PS4.RStickX();\n buttons[PS4_RSTICKY] = PS4.RStickY();\n buttons[PS4_L2VALUE] = PS4.L2Value();\n buttons[PS4_R2VALUE] = PS4.R2Value();\n}\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/controller_ps4.h", "content": "#ifndef CONTROLLER_PS4_H_\n#define CONTROLLER_PS4_H_\n\n#include \"config.h\"\n\n//PS4 BUTTON DECLARATIONS\n#define PS4_RIGHT 0\n#define PS4_DOWN 1\n#define PS4_UP 2\n#define PS4_LEFT 3\n#define PS4_SQUARE 4\n#define PS4_CROSS 5\n#define PS4_CIRCLE 6\n#define PS4_TRIANGLE 7\n#define PS4_L1 8\n#define PS4_R1 9\n#define PS4_SHARE 10\n#define PS4_OPTIONS 11\n#define PS4_L3 12\n#define PS4_R3 13\n#define PS4_PSBUTTON 14\n#define PS4_TOUCHPAD 15\n#define PS4_LSTICKX 16\n#define PS4_LSTICKY 17\n#define PS4_RSTICKX 18\n#define PS4_RSTICKY 19\n#define PS4_L2VALUE 20\n#define PS4_R2VALUE 21\n\n#if BOARD_CHOICE == WEMOSD1R32\n\nclass Controller_PS4 {\n public:\n Controller_PS4(char* aMacAddress);\n int buttons[22];\n void setup();\n void update();\n bool checkConnection();\n\n private:\n char* macAddress;\n};\n\n#endif\n#endif" }, { "path": "arduino_firmware/robotArm_v0.81/controller_wiimote.cpp", "content": "\n#include \n\n#include \"config_esp32.h\"\n#include \"controller_wiimote.h\"\n#include \"logger.h\"\n\n#if BOARD_CHOICE == WEMOSD1R32\n#include \"ESP32Wiimote.h\"\n\nController_Wiimote::Controller_Wiimote(){\n ESP32Wiimote wiimote;\n}\n\nvoid Controller_Wiimote::setup(){\n Logger::logINFO(\"HOLD 1+2 BUTTON TO CONNECT WIIMOTE\");\n Logger::logINFO(\"WHEN LED1 LIGHTS UP. PRESS ANY BUTTON TO START\");\n wiimote.init();\n wiimote.addFilter(ACTION_IGNORE, FILTER_NUNCHUK_ACCEL);\n while (wiimote.available() == 0){\n wiimote.task();\n if (wiimote.available() > 0){\n Logger::logINFO(\"WIIMOTE CONNECTED\");\n break;\n }\n Logger::logINFO(\"CONNECTING TO WIIMOTE\");\n delay(10);\n }\n}\n\nvoid Controller_Wiimote::update(){\n wiimote.task();\n if (wiimote.available() > 0){\n button = wiimote.getButtonState();\n }\n delayMicroseconds(10);\n}\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/controller_wiimote.h", "content": "#ifndef CONTROLLER_WIIMOTE_H_\n#define CONTROLLER_WIIMOTE_H_\n\n#include \"config.h\"\n\n#if BOARD_CHOICE == WEMOSD1R32\n\n#include \"ESP32Wiimote.h\"\n\n#define WII_LEFT 0x0800\n#define WII_RIGHT 0x0400\n#define WII_UP 0x0200\n#define WII_DOWN 0x0100\n#define WII_A 0x0008\n#define WII_B 0x0004\n#define WII_PLUS 0x1000\n#define WII_HOME 0x0080\n#define WII_MINUS 0x0010\n#define WII_ONE 0x0002\n#define WII_TWO 0x0001\n\nclass Controller_Wiimote {\n public:\n Controller_Wiimote();\n uint16_t button;\n void setup();\n void update();\n private:\n ESP32Wiimote wiimote;\n};\n\n#endif\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/endstop.cpp", "content": "#include \"endstop.h\"\n#include \n\nEndstop::Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell, bool does_swap_pin){\n min_pin = a_min_pin;\n dir_pin = a_dir_pin;\n step_pin = a_step_pin;\n en_pin = a_en_pin;\n switch_input = a_switch_input;\n home_dwell = a_home_dwell;\n step_offset = a_step_offset;\n swap_pin = does_swap_pin;\n if (swap_pin == false){\n pinMode(min_pin, INPUT_PULLUP); \n }\n}\n\nvoid Endstop::home(bool dir) {\n if (swap_pin == true){\n pinMode(min_pin, INPUT_PULLUP);\n delayMicroseconds(5);\n }\n digitalWrite(en_pin, LOW);\n delayMicroseconds(5);\n if (dir==1){\n digitalWrite(dir_pin, HIGH);\n } else {\n digitalWrite(dir_pin, LOW);\n }\n delayMicroseconds(5);\n bState = !(digitalRead(min_pin) ^ switch_input);\n while (!bState) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n bState = !(digitalRead(min_pin) ^ switch_input);\n }\n homeOffset(dir);\n if (swap_pin == true){\n pinMode(min_pin, OUTPUT);\n delayMicroseconds(5);\n }\n}\n\nvoid Endstop::homeOffset(bool dir){\n if (dir==1){\n digitalWrite(dir_pin, LOW);\n }\n else{\n digitalWrite(dir_pin, HIGH);\n }\n delayMicroseconds(5);\n for (int i = 1; i <= step_offset; i++) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n }\n}\n\nvoid Endstop::oneStepToEndstop(bool dir){\n if (swap_pin == true){\n pinMode(min_pin, INPUT_PULLUP);\n }\n digitalWrite(en_pin, LOW);\n delayMicroseconds(5);\n if (dir==1){\n digitalWrite(dir_pin, HIGH);\n } else {\n digitalWrite(dir_pin, LOW);\n }\n delayMicroseconds(5);\n bState = !(digitalRead(min_pin) ^ switch_input);\n\n if (!bState) {\n digitalWrite(step_pin, HIGH);\n digitalWrite(step_pin, LOW);\n delayMicroseconds(home_dwell);\n }\n bState = !(digitalRead(min_pin) ^ switch_input);\n}\n\nbool Endstop::state(){\n if (swap_pin == true){\n pinMode(min_pin, INPUT_PULLUP);\n delayMicroseconds(5);\n }\n bState = !(digitalRead(min_pin) ^ switch_input);\n if (swap_pin == true){\n pinMode(min_pin, OUTPUT);\n delayMicroseconds(5);\n }\n return bState;\n}" }, { "path": "arduino_firmware/robotArm_v0.81/endstop.h", "content": "#ifndef ENDSTOP_H_\n#define ENDSTOP_H_\n\nclass Endstop {\n public:\n Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell, bool does_swap_pin);\n void home(bool dir);\n void homeOffset(bool dir);\n void oneStepToEndstop(bool dir);\n bool state();\n bool bState;\n\n private:\n int min_pin;\n int dir_pin;\n int step_pin;\n int en_pin;\n int switch_input;\n int home_dwell;\n int step_offset;\n bool swap_pin; \n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/equipment.cpp", "content": "#include \"equipment.h\"\n#include \n\nEquipment::Equipment(int equipment_pin){\n pin = equipment_pin;\n pinMode(pin, OUTPUT);\n}\n\nvoid Equipment::cmdOn(){\n digitalWrite(pin, HIGH); \n}\n\nvoid Equipment::cmdOff(){\n digitalWrite(pin, LOW); \n}\n" }, { "path": "arduino_firmware/robotArm_v0.81/equipment.h", "content": "#ifndef EQUIPMENT_H_\n#define EQUIPMENT_H_\n\nclass Equipment {\npublic:\n Equipment(int equipment_pin);\n void cmdOn();\n void cmdOff();\nprivate:\n int pin;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/fanControl.cpp", "content": "#include \"fanControl.h\"\n#include \n\n\nFanControl::FanControl(int aPin, int aFanDelay) {\n fan_delay = aFanDelay * 1000;\n nextShutdown = 0;\n pin = aPin;\n pinMode(pin , OUTPUT);\n digitalWrite(pin , LOW);\n state = false;\n}\n\nvoid FanControl::enable(bool value) {\n if (value) {\n state = true;\n digitalWrite(pin, HIGH);\n } else {\n disable();\n }\n}\n\nvoid FanControl::disable() {\n state = false;\n nextShutdown = millis() + fan_delay;\n update();\n}\n\nvoid FanControl::update() {\n if (!state) {\n if (millis() >= nextShutdown) {\n digitalWrite(pin, LOW);\n }\n }\n}\n" }, { "path": "arduino_firmware/robotArm_v0.81/fanControl.h", "content": "#ifndef FANCONTROL_H_\n#define FANCONTROL_H_\n\nclass FanControl {\npublic:\n FanControl(int aPin, int aFanDelay);\n void enable(bool value = true);\n void disable();\n void update();\nprivate:\n bool state;\n int pin;\n long fan_delay;\n long nextShutdown;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/interpolation.cpp", "content": "#include \"interpolation.h\"\n#include \"config.h\"\n#include \"queue.h\"\n#include \"logger.h\"\n\nInterpolation::Interpolation(){\n speed_profile = SPEED_PROFILE;\n pos_offset.xmm = 0.0;\n pos_offset.ymm = 0.0;\n pos_offset.zmm = 0.0;\n pos_offset.emm = 0.0;\n}\n\nvoid Interpolation::setSpeedProfile(int new_speed_profile){\n speed_profile = new_speed_profile;\n}\n\n//G92 POSITION OFFSET FUNCTIONS\nvoid Interpolation::setPosOffset(float new_x, float new_y, float new_z, float new_e) {\n pos_offset.xmm = xPosmm - new_x;\n pos_offset.ymm = yPosmm - new_y;\n pos_offset.zmm = zPosmm - new_z;\n pos_offset.emm = ePosmm - new_e;\n Logger::logINFO(\"POSITION OFFSET: [X\" + String(pos_offset.xmm) + \" Y:\" + String(pos_offset.ymm) + \" Z:\" + String(pos_offset.zmm) + \" E:\" + String(pos_offset.emm) + \"]\");\n Logger::logINFO(\"CURRENT POSITION: [X:\"+String(new_x)+\" Y:\"+String(new_y)+\" Z:\"+String(new_z)+\" E:\"+String(new_e)+\"]\");\n}\n\nvoid Interpolation::resetPosOffset(){\n pos_offset.xmm = 0.0;\n pos_offset.ymm = 0.0;\n pos_offset.zmm = 0.0;\n pos_offset.emm = 0.0;\n}\n\nPoint Interpolation::getPosOffset() const {\n return pos_offset;\n}\n\n\nvoid Interpolation::setCurrentPos(float px, float py, float pz, float pe) {\n Point p;\n p.xmm = px;\n p.ymm = py;\n p.zmm = pz;\n p.emm = pe;\n setCurrentPos(p);\n}\n\nvoid Interpolation::setInterpolation(float px, float py, float pz, float pe, float v) {\n Point p;\n p.xmm = px;\n p.ymm = py;\n p.zmm = pz;\n p.emm = pe;\n setInterpolation(p, v);\n}\n\nvoid Interpolation::setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float v) {\n Point p1;\n Point p2;\n p1.xmm = p1x;\n p1.ymm = p1y;\n p1.zmm = p1z;\n p1.emm = p1e;\n p2.xmm = p2x;\n p2.ymm = p2y;\n p2.zmm = p2z;\n p2.emm = p2e;\n setInterpolation(p1, p2, v);\n}\n\nvoid Interpolation::setInterpolation(Point p1, float v) {\n Point p0;\n p0.xmm = xStartmm + xDelta;\n p0.ymm = yStartmm + yDelta;\n p0.zmm = zStartmm + zDelta;\n p0.emm = eStartmm + eDelta;\n setInterpolation(p0, p1, v);\n}\n\nvoid Interpolation::setInterpolation(Point p0, Point p1, float av) {\n v = av; //mm/s\n \n float a = (p1.xmm - p0.xmm);\n float b = (p1.ymm - p0.ymm);\n float c = (p1.zmm - p0.zmm);\n float e = abs(p1.emm - p0.emm);\n float dist = sqrt(a*a + b*b + c*c);\n\n if (dist < e) {\n dist = e; \n }\n\n if (v < 5) { //includes 0 = default value\n v = sqrt(dist) * 10; //set a good value for v\n }\n if (v < 5) {\n v = 5; \n }\n \n tmul = v / dist;\n \n xStartmm = p0.xmm;\n yStartmm = p0.ymm;\n zStartmm = p0.zmm;\n eStartmm = p0.emm;\n \n xDelta = (p1.xmm - p0.xmm);\n yDelta = (p1.ymm - p0.ymm);\n zDelta = (p1.zmm - p0.zmm);\n eDelta = (p1.emm - p0.emm);\n \n state = 0;\n \n startTime = micros();\n}\n\nvoid Interpolation::setCurrentPos(Point p) {\n xStartmm = p.xmm;\n yStartmm = p.ymm;\n zStartmm = p.zmm;\n eStartmm = p.emm;\n xDelta = 0;\n yDelta = 0;\n zDelta = 0;\n eDelta = 0;\n}\n\nvoid Interpolation::updateActualPosition() {\n if (state != 0) {\n return;\n } \n long microsek = micros();\n float t = (microsek - startTime) / 1000000.0;\n float progress;\n switch (speed_profile){\n // FLAT SPEED CURVE\n case 0:\n progress = t * tmul;\n if (progress >= 1.0){\n progress = 1.0;\n state = 1;\n }\n break;\n // ARCTAN APPROX\n case 1:\n progress = atan((PI * t * tmul) - (PI * 0.5)) * 0.5 + 0.5;\n if (progress >= 1.0) {\n progress = 1.0; \n state = 1;\n }\n break;\n // COSIN APPROX\n case 2:\n progress = -cos(t * tmul * PI) * 0.5 + 0.5;\n if ((t * tmul) >= 1.0) {\n progress = 1.0; \n state = 1;\n }\n break;\n }\n pos_tracker[X_AXIS] = xStartmm + progress * xDelta;\n pos_tracker[Y_AXIS] = yStartmm + progress * yDelta;\n pos_tracker[Z_AXIS] = zStartmm + progress * zDelta;\n pos_tracker[E_AXIS] = eStartmm + progress * eDelta;\n\n if(isAllowedPosition(pos_tracker)){\n xPosmm = pos_tracker[X_AXIS];\n yPosmm = pos_tracker[Y_AXIS];\n zPosmm = pos_tracker[Z_AXIS];\n ePosmm = pos_tracker[E_AXIS];\n } else {\n pos_tracker[X_AXIS] = xPosmm;\n pos_tracker[Y_AXIS] = yPosmm;\n pos_tracker[Z_AXIS] = zPosmm;\n pos_tracker[E_AXIS] = ePosmm;\n state = 1;\n progress = 1.0;\n xStartmm = xPosmm;\n yStartmm = yPosmm;\n zStartmm = zPosmm;\n eStartmm = ePosmm;\n xDelta = 0;\n yDelta = 0;\n zDelta = 0;\n eDelta = 0;\n }\n //FOR DECIPHERING SPEED CURVE\n //Serial.print(\"xPosmm:\");\n //Serial.print(xPosmm);\n //Serial.print(\" yPosmm:\");\n //Serial.print(yPosmm);\n //Serial.print(\" zPosmm:\");\n //Serial.println(zPosmm);\n}\n\nbool Interpolation::isFinished() const {\n return state != 0; \n}\n\nfloat Interpolation::getXPosmm() const {\n return xPosmm;\n}\n\nfloat Interpolation::getYPosmm() const {\n return yPosmm;\n}\n\nfloat Interpolation::getZPosmm() const {\n return zPosmm;\n}\n\nfloat Interpolation::getEPosmm() const {\n return ePosmm;\n}\n\nPoint Interpolation::getPosmm() const {\n Point p;\n p.xmm = xPosmm;\n p.ymm = yPosmm;\n p.zmm = zPosmm;\n p.emm = ePosmm;\n return p;\n}\n\nbool Interpolation::isAllowedPosition(float pos_tracker[4]) {\n float rrot_ee = hypot(pos_tracker[X_AXIS], pos_tracker[Y_AXIS]);\n float rrot = rrot_ee - END_EFFECTOR_OFFSET; \n float rrot_x = rrot * (pos_tracker[Y_AXIS] / rrot_ee);\n float rrot_y = rrot * (pos_tracker[X_AXIS] / rrot_ee);\n float squaredPositionModule = sq(rrot_x) + sq(rrot_y) + sq(pos_tracker[Z_AXIS]); \n\n bool retVal = (\n squaredPositionModule <= sq(R_MAX) \n && squaredPositionModule >= sq(R_MIN) \n && pos_tracker[Z_AXIS] >= Z_MIN \n && pos_tracker[Z_AXIS] <= Z_MAX \n #if RAIL\n && pos_tracker[E_AXIS] <= RAIL_LENGTH\n && pos_tracker[E_AXIS] >= 0\n #endif\n );\n if(!retVal) {\n Logger::logERROR(\"LIMIT REACHED: [X:\" + String(pos_tracker[X_AXIS]) + \" Y:\" + String(pos_tracker[Y_AXIS]) + \" Z:\" + String(pos_tracker[Z_AXIS]) + \" E:\" + String(pos_tracker[E_AXIS]) + \"]\");\n }\n return retVal;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.81/interpolation.h", "content": "#ifndef INTERPOLATION_H_\n#define INTERPOLATION_H_\n#include \n\n#define X_AXIS 0\n#define Y_AXIS 1\n#define Z_AXIS 2\n#define E_AXIS 3\n\nstruct Point {\n float xmm;\n float ymm;\n float zmm;\n float emm;\n};\nclass Interpolation {\npublic:\n //void resetInterpolation(float px, float py, float pz);\n //void resetInterpolation(float p1x, float p1y, float p1z, float p2x, float p2y, float p2z);\n //void resetInterpolation(Point p0, Point p1);\n Interpolation();\n void setCurrentPos(float px, float py, float pz, float pe);\n void setInterpolation(float px, float py, float pz, float pe, float v = 0);\n void setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float av = 0);\n \n void setCurrentPos(Point p);\n void setInterpolation(Point p1, float v = 0);\n void setInterpolation(Point p0, Point p1, float v = 0);\n \n void updateActualPosition();\n bool isFinished() const;\n \n float getXPosmm() const;\n float getYPosmm() const;\n float getZPosmm() const;\n float getEPosmm() const;\n Point getPosmm() const;\n bool isAllowedPosition(float pos_tracker[4]);\n void setPosOffset(float new_x, float new_y, float new_z, float new_e);\n void resetPosOffset();\n Point getPosOffset() const;\n int speed_profile;\n void setSpeedProfile(int new_speed_profile);\n \nprivate:\n Point pos_offset;\n float pos_tracker[4];\n byte state;\n \n long startTime; \n \n float xStartmm;\n float yStartmm;\n float zStartmm;\n float eStartmm;\n float xDelta;\n float yDelta;\n float zDelta;\n float eDelta;\n float xPosmm;\n float yPosmm;\n float zPosmm;\n float ePosmm;\n float v;\n float tmul;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/logger.cpp", "content": "#include \"config.h\"\n#include \"logger.h\"\n\nvoid Logger::log(String message, int level) {\n if(LOG_LEVEL >= level) {\n String logMsg;\n switch(level) {\n case LOG_ERROR:\n logMsg = \"ERROR: \";\n break;\n case LOG_INFO:\n logMsg = \"INFO: \";\n break;\n case LOG_DEBUG:\n logMsg = \"DEBUG: \";\n break;\n }\n logMsg = logMsg + message;\n Serial.println(logMsg);\n }\n}\n\nvoid Logger::logERROR(String message) {\n log(message, LOG_ERROR);\n}\nvoid Logger::logINFO(String message) {\n log(message, LOG_INFO);\n}\nvoid Logger::logDEBUG(String message) {\n log(message, LOG_DEBUG);\n}" }, { "path": "arduino_firmware/robotArm_v0.81/logger.h", "content": "#ifndef LOGGER_H_\n#define LOGGER_H_\n\n#include \n\n#define LOG_ERROR 0\n#define LOG_INFO 1\n#define LOG_DEBUG 2\n\nclass Logger {\n public:\n static void log(String message, int level);\n static void logINFO(String message);\n static void logERROR(String message);\n static void logDEBUG(String message);\n};\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/pinout/pinout.h", "content": "#ifndef PINOUT_H_\n#define PINOUT_H_\n\n/*\n * pinout of RAMPS 1.4\n *\n * source: http://reprap.org/wiki/RAMPS_1.4\n */\n\n//RAMPS 1.4 PINS\n#define X_STEP_PIN 54\n#define X_DIR_PIN 55\n#define X_ENABLE_PIN 38\n#define X_MIN_PIN 3\n#define X_MAX_PIN 2\n \n#define Y_STEP_PIN 60\n#define Y_DIR_PIN 61\n#define Y_ENABLE_PIN 56\n#define Y_MIN_PIN 14\n#define Y_MAX_PIN 15\n\n#define Z_STEP_PIN 46\n#define Z_DIR_PIN 48\n#define Z_ENABLE_PIN 62\n#define Z_MIN_PIN 18\n#define Z_MAX_PIN 19\n\n#define E0_STEP_PIN 26\n#define E0_DIR_PIN 28\n#define E0_ENABLE_PIN 24\n#define E0_MIN_PIN 20\n\n#define E1_STEP_PIN 36\n#define E1_DIR_PIN 34\n#define E1_ENABLE_PIN 30\n\n#define BYJ_PIN_0 40\n#define BYJ_PIN_1 63\n#define BYJ_PIN_2 59\n#define BYJ_PIN_3 64\n\n#define SERVO_PIN 4\n\n#define PUMP_PIN 8\n#define LASER_PIN 10\n#define LED_PIN 13\n\n#define SDPOWER -1\n#define SDSS 53\n\n#define FAN_PIN 9\n\n#define PS_ON_PIN 12\n#define KILL_PIN -1\n\n//#define HEATER_0_PIN 10\n//#define HEATER_1_PIN 8\n#define TEMP_0_PIN 13 // ANALOG NUMBERING\n#define TEMP_1_PIN 14 // ANALOG NUMBERING\n\n//RAMPS AUX-2\n\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/pinout/pinout_uno.h", "content": "#ifndef PINOUT_UNO_H_\n#define PINOUT_UNO_H_\n\n#define X_STEP_PIN 2\n#define X_DIR_PIN 5\n#define X_ENABLE_PIN 8\n#define X_MIN_PIN 9\n#define X_MAX_PIN -1\n \n#define Y_STEP_PIN 3\n#define Y_DIR_PIN 6\n#define Y_ENABLE_PIN 8\n#define Y_MIN_PIN 10\n#define Y_MAX_PIN -1\n\n#define Z_STEP_PIN 4\n#define Z_DIR_PIN 7\n#define Z_ENABLE_PIN 8\n#define Z_MIN_PIN 11 \n#define Z_MAX_PIN -1\n\n#define E0_STEP_PIN 12\n#define E0_DIR_PIN 13\n#define E0_ENABLE_PIN 8\n#define E0_MIN_PIN 16 //A2 PIN //UNO ANALOG PIN CAN FUNCTION AS DIGITAL PIN\n\n#define E1_STEP_PIN -1\n#define E1_DIR_PIN -1\n#define E1_ENABLE_PIN -1\n\n#define BYJ_PIN_0 -1 \n#define BYJ_PIN_1 -1 \n#define BYJ_PIN_2 -1 \n#define BYJ_PIN_3 -1\n\n\n#define SERVO_PIN 17 //A3 PIN //UNO ANALOG PIN CAN FUNCTION AS DIGITAL PIN\n\n#define PUMP_PIN -1\n#define LASER_PIN -1\n#define LED_PIN -1\n\n#define SDPOWER -1\n#define SDSS -1\n\n#define FAN_PIN -1\n\n#define PS_ON_PIN -1\n#define KILL_PIN -1\n\n#define TEMP_0_PIN -1 // ANALOG NUMBERING\n#define TEMP_1_PIN -1 // ANALOG NUMBERING\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/pinout/pinout_wemosD1R32.h", "content": "#ifndef PINOUT_ESP32WEMOS_H_\n#define PINOUT_ESP32WEMOS_H_\n\n#define X_STEP_PIN 26\n#define X_DIR_PIN 16 //SHARE WITH E0_MIN_PIN\n#define X_ENABLE_PIN 12\n#define X_MIN_PIN 13\n#define X_MAX_PIN -1\n \n#define Y_STEP_PIN 25\n#define Y_DIR_PIN 27\n#define Y_ENABLE_PIN 12\n#define Y_MIN_PIN 5\n#define Y_MAX_PIN -1\n\n#define Z_STEP_PIN 17\n#define Z_DIR_PIN 14\n#define Z_ENABLE_PIN 12\n#define Z_MIN_PIN 23 //SHARE WITH SERVO_PIN\n#define Z_MAX_PIN -1\n\n#define E0_STEP_PIN 19\n#define E0_DIR_PIN 18\n#define E0_ENABLE_PIN 12\n#define E0_MIN_PIN 16 //SHARE WITH X_DIR_PIN\n\n#define E1_STEP_PIN -1\n#define E1_DIR_PIN -1\n#define E1_ENABLE_PIN -1\n\n#define BYJ_PIN_0 -1\n#define BYJ_PIN_1 -1\n#define BYJ_PIN_2 -1\n#define BYJ_PIN_3 -1\n\n#define SERVO_PIN 19 //SERVO_PIN FOR STATIONARY\n\n#define PUMP_PIN -1\n#define LASER_PIN -1\n#define LED_PIN -1\n\n#define SDPOWER -1\n#define SDSS -1\n\n#define FAN_PIN -1\n\n#define PS_ON_PIN -1\n#define KILL_PIN -1\n\n#define TEMP_0_PIN -1\n#define TEMP_1_PIN -1\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/queue.h", "content": "#ifndef QUEUE_H_\n#define QUEUE_H_\n\ntemplate class Queue {\npublic:\n Queue(int alen);\n ~Queue();\n bool push(Element elem);\n Element pop();\n bool isFull() const;\n bool isEmpty() const;\n int getFreeSpace() const;\n int getMaxLength() const;\n inline int getUsedSpace() const;\nprivate:\n Queue(Queue& q); //copy const.\n Element* data;\n int len;\n int start;\n int count;\n};\n\ntemplate \nQueue::Queue(int alen) {\n data = new Element[alen];\n len = alen;\n start = 0;\n count = 0;\n}\n\ntemplate \nQueue::~Queue() {\n delete data;\n}\n\ntemplate \nQueue::Queue(Queue& q) {\n //nothing ever is allowed to do something here\n}\n\ntemplate \nbool Queue::push(Element elem) {\n data[(start + count++) % len] = elem;\n}\n\ntemplate \nElement Queue::pop() {\n count--;\n int s = start;\n start = (start + 1) % len;\n return data[(s) % len];\n}\n\ntemplate \nbool Queue::isFull() const {\n return count >= len;\n}\n\ntemplate \nbool Queue::isEmpty() const {\n return count <= 0;\n}\n\ntemplate \nint Queue::getFreeSpace() const {\n return len - count;\n}\n\ntemplate \nint Queue::getMaxLength() const {\n return len;\n}\n\ntemplate \nint Queue::getUsedSpace() const {\n return count;\n}\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/robotArm_v0.81.ino", "content": "//20SFFACTORY COMMUNITY ROBOT FIRMWARE\n\n//MAINTAINER: LEOYEUNG@20SFFACTORY\n//CONTACT: yeung.kl.leo@gmail.com\n//FORUM: www.facebook.com/groups/robotarm\n\n//VERSION: V0.81\n\n//VERSION HISTORY:\n// V0.31 WITH G92, M114, LOGGER, LIMIT_CHECK FUNCTIONS\n// V0.41 WITH DUAL SHANK LENGTH SUPPORT\n// V0.51 WITH SERVO GRIPPER\n// V0.61 WITH ARDUINO UNO OPTION\n// V0.71 WITH:\n// ESP32(WEMOS D1R32) WITH PS4 JOYSTICK CONTROL OPTION\n// COMMAND TO SET CUSTOM SPEED PROFILE 'M205 S0'\n// UNO OPTION WITH RAIL SUPPORT\n// V0.81 WITH WII REMOTE, JOYSTICK ADJUSTABLE SPEED MULTIPLIER\n\n\n#include \n//GENERAL CONFIG SETTINGS\n#include \"config.h\"\n\n#include \"robotGeometry.h\"\n#include \"interpolation.h\"\n#include \"RampsStepper.h\"\n#include \"queue.h\"\n#include \"command.h\"\n#include \"equipment.h\"\n#include \"endstop.h\"\n#include \"logger.h\"\n#include \"fanControl.h\"\n//INCLUDE CORRESPONDING GRIPPER MOTOR CLASS\n#if GRIPPER == SERVO\n #include \"servo_gripper.h\"\n#elif GRIPPER == BYJ\n #include \"byj_gripper.h\"\n#endif\n\n//DETERMINE PINOUTS & CONFIG TO USE SUBJECT TO BOARD_CHOICE\n#if BOARD_CHOICE == UNO\n #include \"pinout/pinout_uno.h\"\n#elif BOARD_CHOICE == WEMOSD1R32\n #include \"pinout/pinout_wemosD1R32.h\"\n #include \"config_esp32.h\"\n#elif BOARD_CHOICE == MEGA2560\n #include \"pinout/pinout.h\"\n#endif\n\n//STEPPER OBJECTS\nRampsStepper stepperHigher(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, INVERSE_X_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV);\nRampsStepper stepperLower(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, INVERSE_Y_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV);\nRampsStepper stepperRotate(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, INVERSE_Z_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV);\n\n//RAIL OBJECTS\n#if RAIL\n RampsStepper stepperRail(E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, INVERSE_E0_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV);\n #if BOARD_CHOICE == WEMOSD1R32 //PINSWAP REQIURED ON D1R32 DUE TO INSUFFICIENT DIGIAL PINS\n #define SERVO_PIN 23 // REDEFINE SERVO_PIN FOR RAIL // SHARE WITH Z_MIN_PIN\n Endstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL, true);\n #else \n Endstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL, false);\n #endif\n#endif\n\n//ENDSTOP OBJECTS\nEndstop endstopX(X_MIN_PIN, X_DIR_PIN, X_STEP_PIN, X_ENABLE_PIN, X_MIN_INPUT, X_HOME_STEPS, HOME_DWELL, false);\nEndstop endstopY(Y_MIN_PIN, Y_DIR_PIN, Y_STEP_PIN, Y_ENABLE_PIN, Y_MIN_INPUT, Y_HOME_STEPS, HOME_DWELL, false);\n#if BOARD_CHOICE == WEMOSD1R32\n Endstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL, true);\n#else\n Endstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL, false);\n#endif\n\n//EQUIPMENT OBJECTS\n#if GRIPPER == SERVO\n Servo_Gripper servo_gripper(SERVO_PIN, SERVO_GRIP_DEGREE, SERVO_UNGRIP_DEGREE);\n#elif GRIPPER == BYJ\n BYJ_Gripper byj_gripper(BYJ_PIN_0, BYJ_PIN_1, BYJ_PIN_2, BYJ_PIN_3, BYJ_GRIP_STEPS);\n#endif\nEquipment laser(LASER_PIN);\nEquipment pump(PUMP_PIN);\nEquipment led(LED_PIN);\nFanControl fan(FAN_PIN, FAN_DELAY);\n\n//EXECUTION & COMMAND OBJECTS\nRobotGeometry geometry(END_EFFECTOR_OFFSET, LOW_SHANK_LENGTH, HIGH_SHANK_LENGTH);\nInterpolation interpolator;\nQueue queue(QUEUE_SIZE);\nCommand command;\n\n//PS4 CONTROLLER OBJECT FOR ESP32\n#if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == DUALSHOCK4\n #include \"controller_ps4.h\"\n Controller_PS4 controller_ps4(PS4_MAC);\n#endif\n#if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == WIIMOTE\n #include \"controller_wiimote.h\"\n Controller_Wiimote controller_wiimote;\n#endif\n\nvoid setup()\n{\n Serial.begin(BAUD);\n #if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == DUALSHOCK4\n controller_ps4.setup();\n #endif\n #if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == WIIMOTE\n controller_wiimote.setup();\n #endif\n stepperHigher.setPositionRad(PI / 2.0); // 90°\n stepperLower.setPositionRad(0); // 0°\n stepperRotate.setPositionRad(0); // 0°\n #if RAIL\n stepperRail.setPosition(0);\n #endif\n if (HOME_ON_BOOT) { //HOME DURING SETUP() IF HOME_ON_BOOT ENABLED\n homeSequence(); \n Logger::logINFO(\"ROBOT ONLINE\");\n } else {\n setStepperEnable(false); //ROBOT ADJUSTABLE BY HAND AFTER TURNING ON\n if (HOME_X_STEPPER && HOME_Y_STEPPER && !HOME_Z_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"ROTATE ROBOT TO FACE FRONT CENTRE & SEND G28 TO CALIBRATE\");\n }\n if (HOME_X_STEPPER && HOME_Y_STEPPER && HOME_Z_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"SEND G28 TO CALIBRATE\");\n }\n if (!HOME_X_STEPPER && !HOME_Y_STEPPER){\n Logger::logINFO(\"ROBOT ONLINE\");\n Logger::logINFO(\"HOME ROBOT MANUALLY & SEND G28 TO CALIBRATE\");\n }\n }\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n}\n\nvoid loop() {\n interpolator.updateActualPosition();\n geometry.set(interpolator.getXPosmm(), interpolator.getYPosmm(), interpolator.getZPosmm());\n stepperRotate.stepToPositionRad(geometry.getRotRad());\n stepperLower.stepToPositionRad(geometry.getLowRad());\n stepperHigher.stepToPositionRad(geometry.getHighRad());\n #if RAIL\n stepperRail.stepToPositionMM(interpolator.getEPosmm(), STEPS_PER_MM_RAIL);\n #endif\n stepperRotate.update();\n stepperLower.update();\n stepperHigher.update();\n #if RAIL\n stepperRail.update();\n #endif\n fan.update();\n\n if (!queue.isFull()) {\n if (command.handleGcode()) {\n queue.push(command.getCmd());\n }\n }\n if ((!queue.isEmpty()) && interpolator.isFinished()) {\n executeCommand(queue.pop());\n if (PRINT_REPLY) {\n Serial.println(PRINT_REPLY_MSG);\n }\n }\n\n if (millis() % 500 < 250) {\n led.cmdOn();\n }\n else {\n led.cmdOff();\n }\n\n #if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == DUALSHOCK4\n ps4_controller_loop();\n #endif\n #if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == WIIMOTE\n wiimote_controller_loop();\n #endif\n}\n\nvoid executeCommand(Cmd cmd) {\n\n if (cmd.id == -1) {\n printErr();\n return;\n }\n\n if (cmd.id == 'G') {\n switch (cmd.num) {\n case 0:\n case 1:\n fan.enable(true);\n Point posoffset;\n posoffset = interpolator.getPosOffset(); \n cmdMove(cmd, interpolator.getPosmm(), posoffset, command.isRelativeCoord);\n interpolator.setInterpolation(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE, cmd.valueF);\n Logger::logINFO(\"LINEAR MOVE: [X:\" + String(cmd.valueX-posoffset.xmm) + \" Y:\" + String(cmd.valueY-posoffset.ymm) + \" Z:\" + String(cmd.valueZ-posoffset.zmm) + \" E:\" + String(cmd.valueE-posoffset.emm)+\"]\");\n break;\n case 4: cmdDwell(cmd); break;\n case 28: \n if (BOARD_CHOICE == UNO || BOARD_CHOICE == WEMOSD1R32){\n homeSequence_UNO();\n break;\n } else {\n homeSequence();\n break;\n }\n case 90: command.cmdToAbsolute(); break; // ABSOLUTE COORDINATE MODE\n case 91: command.cmdToRelative(); break; // RELATIVE COORDINATE MODE\n case 92: \n interpolator.resetPosOffset();\n cmdMove(cmd, interpolator.getPosmm(), interpolator.getPosOffset(), false);\n interpolator.setPosOffset(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE);\n break;\n default: printErr();\n }\n }\n else if (cmd.id == 'M') {\n switch (cmd.num) {\n case 1: pump.cmdOn(); break;\n case 2: pump.cmdOff(); break;\n case 3: \n #if GRIPPER == BYJ\n byj_gripper.cmdOn(); break;\n #elif GRIPPER == SERVO\n servo_gripper.cmdOn(); break;\n #endif\n case 5:\n #if GRIPPER == BYJ\n byj_gripper.cmdOff(); break;\n #elif GRIPPER == SERVO\n servo_gripper.cmdOff(); break;\n #endif\n case 6: laser.cmdOn(); break;\n case 7: laser.cmdOff(); break;\n case 17: setStepperEnable(true); break;\n case 18: setStepperEnable(false); break;\n case 106: fan.enable(true); break;\n case 107: fan.enable(false); break;\n case 114: command.cmdGetPosition(interpolator.getPosmm(), interpolator.getPosOffset(), stepperHigher.getPosition(), stepperLower.getPosition(), stepperRotate.getPosition()); break;// Return the current positions of all axis \n case 119: {\n String endstopMsg = \"ENDSTOP: [X:\";\n endstopMsg += String(endstopX.state());\n endstopMsg += \" Y:\";\n endstopMsg += String(endstopY.state());\n endstopMsg += \" Z:\";\n endstopMsg += String(endstopZ.state());\n #if RAIL\n endstopMsg += \" E:\";\n endstopMsg += String(endstopE0.state());\n #endif\n endstopMsg += \"]\";\n //ORIGINAL LOG STRING UNDESIRABLE FOR UNO PROCESSING\n //Logger::logINFO(\"ENDSTOP STATE: [UPPER_SHANK(X):\"+String(endstopX.state())+\" LOWER_SHANK(Y):\"+String(endstopY.state())+\" ROTATE_GEAR(Z):\"+String(endstopZ.state())+\"]\");\n Logger::logINFO(endstopMsg);\n break;}\n case 205:\n interpolator.setSpeedProfile(cmd.valueS); \n Logger::logINFO(\"SPEED PROFILE: [\" + String(interpolator.speed_profile) + \"]\");\n break;\n default: printErr();\n }\n }\n else {\n printErr();\n }\n}\n\nvoid setStepperEnable(bool enable){\n stepperRotate.enable(enable);\n stepperLower.enable(enable);\n stepperHigher.enable(enable);\n #if RAIL\n stepperRail.enable(enable);\n #endif\n fan.enable(enable);\n}\n\nvoid homeSequence(){\n setStepperEnable(false);\n fan.enable(true);\n if (HOME_Y_STEPPER && HOME_X_STEPPER){\n endstopY.home(!INVERSE_Y_STEPPER);\n endstopX.home(!INVERSE_X_STEPPER);\n } else {\n setStepperEnable(true);\n endstopY.homeOffset(!INVERSE_Y_STEPPER);\n endstopX.homeOffset(!INVERSE_X_STEPPER);\n }\n if (HOME_Z_STEPPER){\n endstopZ.home(INVERSE_Z_STEPPER);\n }\n #if RAIL\n if (HOME_E0_STEPPER){\n endstopE0.home(!INVERSE_E0_STEPPER);\n }\n #endif\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n Logger::logINFO(\"HOMING COMPLETE\");\n}\n\n//DUE TO UNO CNC SHIELD LIMIT, 1 EN PIN SERVES 3 MOTORS, HENCE DIFFERENT HOMESEQUENCE IS REQUIRED\nvoid homeSequence_UNO(){\n #if GRIPPER == SERVO\n if (servo_gripper.readDegree() != SERVO_UNGRIP_DEGREE){\n servo_gripper.cmdOff();\n }\n #endif\n if (HOME_Y_STEPPER && HOME_X_STEPPER){\n while (!endstopY.state() || !endstopX.state()){\n endstopY.oneStepToEndstop(!INVERSE_Y_STEPPER);\n endstopX.oneStepToEndstop(!INVERSE_X_STEPPER);\n }\n endstopY.homeOffset(!INVERSE_Y_STEPPER);\n endstopX.homeOffset(!INVERSE_X_STEPPER);\n } else {\n setStepperEnable(true);\n endstopY.homeOffset(!INVERSE_Y_STEPPER);\n endstopX.homeOffset(!INVERSE_X_STEPPER);\n }\n if (HOME_Z_STEPPER){\n endstopZ.home(INVERSE_Z_STEPPER); //INDICATE STEPPER HOMING DIRECDTION\n }\n #if RAIL\n if (HOME_E0_STEPPER){\n endstopE0.home(!INVERSE_E0_STEPPER);\n }\n #endif\n interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0);\n Logger::logINFO(\"HOMING COMPLETE\");\n}\n\n#if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == DUALSHOCK4\nvoid ps4_controller_loop(){\n controller_ps4.update();\n interpolator.speed_profile = 0;\n if (controller_ps4.buttons[PS4_CROSS]){if (GRIPPER == SERVO){servo_gripper.cmdOn();}}\n if (controller_ps4.buttons[PS4_CIRCLE]){if (GRIPPER == SERVO){servo_gripper.cmdOff();}}\n if (controller_ps4.buttons[PS4_OPTIONS]){setStepperEnable(true);}\n if (controller_ps4.buttons[PS4_SHARE]){setStepperEnable(false);}\n if (controller_ps4.buttons[PS4_TOUCHPAD]){homeSequence_UNO();}\n float x_distance = 0.0;\n float y_distance = 0.0;\n float z_distance = 0.0;\n float e_distance = 0.0;\n if (abs(controller_ps4.buttons[PS4_RSTICKY]) > 10){\n// z_distance = float(controller_ps4.buttons[PS4_RSTICKY]) / 2500.0;\n z_distance = float(controller_ps4.buttons[PS4_RSTICKY])*JOYSTICK_SPEED_MULTIPLIER / 2500.0;\n }\n if (abs(controller_ps4.buttons[PS4_LSTICKX]) > 10){\n float turn_rad = float(controller_ps4.buttons[PS4_LSTICKX])*JOYSTICK_SPEED_MULTIPLIER / 300000.0;\n x_distance += sin(geometry.getRotRad() + turn_rad) * geometry.getHypot() - interpolator.getXPosmm();\n y_distance += cos(geometry.getRotRad() + turn_rad) * geometry.getHypot() - interpolator.getYPosmm();\n }\n if (abs(controller_ps4.buttons[PS4_LSTICKY]) > 10){\n float hp_distance = float(controller_ps4.buttons[PS4_LSTICKY])*JOYSTICK_SPEED_MULTIPLIER / 2500.0;\n float hp_ratio = hp_distance / geometry.getHypot();\n x_distance += interpolator.getXPosmm() * hp_ratio;\n y_distance += interpolator.getYPosmm() * hp_ratio;\n }\n if (abs(controller_ps4.buttons[PS4_L2VALUE]) > 10){\n e_distance -= float(controller_ps4.buttons[PS4_L2VALUE])*JOYSTICK_SPEED_MULTIPLIER/ 10000.0;\n }\n if (abs(controller_ps4.buttons[PS4_R2VALUE]) > 10){\n e_distance += float(controller_ps4.buttons[PS4_R2VALUE])*JOYSTICK_SPEED_MULTIPLIER/ 10000.0;\n }\n if (x_distance || y_distance || z_distance || e_distance){\n interpolator.speed_profile = 0;\n interpolator.setInterpolation(interpolator.getXPosmm()+x_distance, interpolator.getYPosmm()+y_distance, interpolator.getZPosmm()+z_distance, interpolator.getEPosmm()+e_distance, 5);\n }\n}\n#endif\n\n#if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == WIIMOTE\nvoid wiimote_controller_loop(){\n controller_wiimote.update();\n interpolator.speed_profile = 0;\n if (controller_wiimote.button == WII_A && GRIPPER == SERVO){\n if (!servo_gripper.isOn()){\n servo_gripper.cmdOn();\n } else {\n servo_gripper.cmdOff();\n }\n }\n if (controller_wiimote.button == WII_PLUS){setStepperEnable(true);}\n if (controller_wiimote.button == WII_MINUS){setStepperEnable(false);}\n if (controller_wiimote.button == WII_HOME){homeSequence_UNO();}\n \n float x_distance = 0.0;\n float y_distance = 0.0;\n float z_distance = 0.0;\n float e_distance = 0.0;\n float hp_distance = 0.0;\n float turn_rad = 0.0;\n\n if (controller_wiimote.button == WII_LEFT || controller_wiimote.button == WII_LEFT+WII_DOWN || controller_wiimote.button == WII_LEFT+WII_UP){\n hp_distance = float(0.015 * JOYSTICK_SPEED_MULTIPLIER);\n }\n if (controller_wiimote.button == WII_RIGHT || controller_wiimote.button == WII_RIGHT+WII_DOWN || controller_wiimote.button == WII_RIGHT+WII_UP){\n hp_distance = float(-0.015 * JOYSTICK_SPEED_MULTIPLIER);\n }\n if (controller_wiimote.button == WII_DOWN || controller_wiimote.button == WII_LEFT+WII_DOWN || controller_wiimote.button == WII_RIGHT+WII_DOWN){\n turn_rad = float(-0.0001 * JOYSTICK_SPEED_MULTIPLIER);\n }\n if (controller_wiimote.button == WII_UP || controller_wiimote.button == WII_LEFT+WII_UP || controller_wiimote.button == WII_RIGHT+WII_UP){\n turn_rad = float(0.0001 * JOYSTICK_SPEED_MULTIPLIER);\n }\n if (controller_wiimote.button == WII_LEFT+WII_B){\n z_distance = float (0.015 * JOYSTICK_SPEED_MULTIPLIER);\n }\n if (controller_wiimote.button == WII_RIGHT+WII_B){\n z_distance = float (-0.015 * JOYSTICK_SPEED_MULTIPLIER);\n }\n if (controller_wiimote.button == WII_DOWN+WII_B){\n e_distance = float (-0.008 * JOYSTICK_SPEED_MULTIPLIER);\n }\n if (controller_wiimote.button == WII_UP+WII_B){\n e_distance = float (0.008 * JOYSTICK_SPEED_MULTIPLIER);\n }\n if (abs(hp_distance) > 0.0){\n float hp_ratio = hp_distance / geometry.getHypot();\n x_distance += interpolator.getXPosmm() * hp_ratio;\n y_distance += interpolator.getYPosmm() * hp_ratio; \n }\n if (abs(turn_rad) > 0.0){\n x_distance += sin(geometry.getRotRad() + turn_rad) * geometry.getHypot() - interpolator.getXPosmm();\n y_distance += cos(geometry.getRotRad() + turn_rad) * geometry.getHypot() - interpolator.getYPosmm(); \n }\n\n if (x_distance || y_distance || z_distance || e_distance){\n interpolator.speed_profile = 0;\n interpolator.setInterpolation(interpolator.getXPosmm()+x_distance, interpolator.getYPosmm()+y_distance, interpolator.getZPosmm()+z_distance, interpolator.getEPosmm()+e_distance, 5);\n //SOLUTION FOR WIIMOTE Y<0.05 FREEZE ISSUE\n if (interpolator.getYPosmm() < 0.5) {\n interpolator.setInterpolation(interpolator.getXPosmm(), 0.5, interpolator.getZPosmm(), interpolator.getEPosmm(), 5);\n }\n }\n}\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/robotGeometry.cpp", "content": "#include \"robotGeometry.h\"\n\n#include \n#include \n\nRobotGeometry::RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_shank_length) {\n ee_offset = a_ee_offset;\n low_shank_length = a_low_shank_length;\n high_shank_length = a_high_shank_length;\n}\n\nvoid RobotGeometry::set(float axmm, float aymm, float azmm) {\n xmm = axmm;\n ymm = aymm;\n zmm = azmm; \n calculateGrad();\n}\n\nfloat RobotGeometry::getXmm() const {\n return xmm;\n}\n\nfloat RobotGeometry::getYmm() const {\n return ymm;\n}\n\nfloat RobotGeometry::getZmm() const {\n return zmm;\n}\n\nfloat RobotGeometry::getRotRad() const {\n return rot;\n}\n\nfloat RobotGeometry::getLowRad() const {\n return low;\n}\n\nfloat RobotGeometry::getHighRad() const {\n return high;\n}\n\nfloat RobotGeometry::getHypot() const {\n return rrot_ee;\n}\n\nvoid RobotGeometry::calculateGrad() {\n rrot_ee = hypot(xmm, ymm); \n float rrot = rrot_ee - ee_offset; //radius from Top View\n float rside = hypot(rrot, zmm); //radius from Side View. Use rrot instead of ymm..for everything\n float rside_2 = sq(rside);\n float low_2 = sq(low_shank_length);\n float high_2 = sq(high_shank_length);\n \n rot = asin(xmm / rrot_ee);\n high = PI - acos((low_2 + high_2 - rside_2) / (2 * low_shank_length * high_shank_length));\n\n //Angle of Lower Stepper Motor (asin()=Angle To Gripper)\n if (zmm > 0) {\n low = acos(zmm / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside));\n } else {\n low = PI - asin(rrot / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside));\n }\n high = high + low;\n}\n" }, { "path": "arduino_firmware/robotArm_v0.81/robotGeometry.h", "content": "#ifndef ROBOTGEOMETRY_H_\n#define ROBOTGEOMETRY_H_\n\nclass RobotGeometry {\npublic:\n RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_length);\n void set(float axmm, float aymm, float azmm);\n float getXmm() const;\n float getYmm() const;\n float getZmm() const;\n float getRotRad() const;\n float getLowRad() const;\n float getHighRad() const;\n float getHypot() const;\nprivate:\n void calculateGrad();\n float ee_offset;\n float low_shank_length;\n float high_shank_length;\n float xmm;\n float ymm;\n float zmm;\n float rot;\n float low;\n float high;\n float rrot_ee;\n};\n\n#endif\n" }, { "path": "arduino_firmware/robotArm_v0.81/servo_gripper.cpp", "content": "#include \"servo_gripper.h\"\n#include \"config.h\"\n\n#include \n\n#if BOARD_CHOICE == WEMOSD1R32\n #include \n#else \n #include \n#endif\n\nServo_Gripper::Servo_Gripper(int pin, float grip_degree, float ungrip_degree){\n servo_pin = pin;\n servo_grip_deg = grip_degree;\n servo_ungrip_deg = ungrip_degree;\n Servo servo_motor;\n}\n\nvoid Servo_Gripper::cmdOn(){\n servo_motor.attach(servo_pin);\n delayMicroseconds(10);\n servo_motor.write(servo_grip_deg);\n delay(300);\n //servo_motor.detach();\n}\n\nvoid Servo_Gripper::cmdOff(){\n //servo_motor.attach(servo_pin);\n servo_motor.write(servo_ungrip_deg);\n delay(300);\n servo_motor.detach();\n delayMicroseconds(50);\n}\n\nfloat Servo_Gripper::readDegree(){\n float servo_current_degree = servo_motor.read();\n return servo_current_degree;\n}\n\nbool Servo_Gripper::isOn(){\n float servo_current_degree = servo_motor.read();\n if (servo_current_degree == servo_grip_deg){\n return true;\n } else {\n return false;\n }\n}\n" }, { "path": "arduino_firmware/robotArm_v0.81/servo_gripper.h", "content": "#ifndef SERVO_GRIPPER_H_\n#define SERVO_GRIPPER_H_\n\n#include \"config.h\"\n\n#if BOARD_CHOICE == WEMOSD1R32\n #include \n#else \n #include \n#endif\n\nclass Servo_Gripper{\npublic:\n Servo_Gripper(int pin, float grip_degree, float ungrip_degree);\n void cmdOn();\n void cmdOff();\n float readDegree();\n bool isOn();\nprivate:\n Servo servo_motor;\n int servo_pin;\n float servo_grip_deg;\n float servo_ungrip_deg;\n};\n\n#endif" }, { "path": "temp_codes/consecutive_command.py", "content": "import serial\nimport time\n\n#PORT DECLARATIONS\nport = '/dev/cu.usbserial-14530' #SEE PORT NAME IN ARDUINO IDE: TOOLS>PORT:\nbaud = 115200 #BY DEFAULT 115200\ntimeout = None #LEAVE AS IS\nser = serial.Serial(port,baud,timeout=timeout)\ntime.sleep(2)\n\n#LIST OF COMMANDS TO BE EXECUTED BY ROBOT ARM, CHANGE ACCORDINGLY\ncmdList = [\n\"G0 X0 Y120 Z120 F165\",\n\"G0 X0 Y120 Z60 F165\",\n\"G0 X0 Y120 Z120 F165\",\n\"G0 X0 Y120 Z60 F165\",\n\"G0 X0 Y120 Z120 F165\",\n\"G0 X100 Y120 Z60 F165\",\n]\n\nbCmdList = []\nfor cmd in cmdList:\n cmd_temp = cmd + '\\r'\n bCmdList.append(cmd_temp.encode('utf-8'))\n\n#ROBOT HOMES ITSELF\nser.write(b'G28\\r')\nprint(\"homing in progress\")\ntime.sleep(10)\nprint(ser.readline())\n\ndef wait_complete():\n waitstatus = 1\n while True:\n a = ser.readline()\n if \"ok\" in a.decode(\"utf-8\"):\n waitstatus = 0\n break\n\n#ROBOT BEGINS WHEN USER INPUTS \"y\"\nbegin = input('type y to begin: ')\n\nwhile True:\n if begin == 'y':\n break\n\nfor bCmd in bCmdList:\n ser.write(bCmd)\n print(bCmd)\n wait_complete()" } ]

20sffactory Firmware
\"config.h\" Settings
SHANK_LENGTH
END_EFFECTOR_OFFSET
STEPS_PER_REVO
MICROSTEPS
MOTOR_GEAR_TEETH
MAIN_GEAR_TEETH
X_HOME_STEPS
Y_HOME_STEPS
Z_HOME_STEPS

Marlin 2.0
\"Configuration.h\" Settings
ROBOT_ARM_2L
_LOW_SHANK
_HIGH_SHANK
_EE_OFFSET
_X_AT_ENDSTOP
_Y_AT_ENDSTOP
_Z_AT_ENDSTOP
DEFAULT_AXIS_STEPS_PER_UNIT