Introduction

This mechanism can be used to draw interesting shapes by

• changing the length of the arms
• changing the distance between the wheels
• changing the wheel attachment locations
• varying the speed and direction of the wheels

Note: The mechanism can "lock-up" with various arm length and attachment location combinations.

The flex joints allow the arms to move in the XY plane.

Graphics Library

For this project, use graphics.py. It is a simple graphics library. Click HERE for more information. (download, install, documentation, ...)

Project #1

In this project you will reproduce the movement of the pen in a graphics window. There will be a lot of coordinate calculations but nothing to deep. (Be sure to check for "lock-Up" conditions.)

Note: You do not need to draw the complete mechanism, only the points/lines the pen makes.

The starting pen coordinates must be inside the graphics window, but the coordinates of the wheels do not.

To initially simplify things, hard code the coordinates, arm length, wheel speed, etc.

Project #2

Allow the user to specify the coordinates, arm length, wheel speed, rotation direction, wheel location, etc. (There should be default values for data the user does not enter.)

Math Hint

If you need a hint about the math go HERE .

The Start of a Solution

Lets analyze the problem and break it into manageable parts.