XYInterface

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interface { ''' This models an X, Y joint ''' provides workspace [m] 'Dimension of workspace (assuming X=Y for simplicity)' provides payload_mass [g] 'Weight of payload to be moved around' provides precision [1/mm] 'Precision (higher is better) (assuming X=Y)' provides velocity [mm/s] 'Velocity (assuming X=Y=Z)' provides acceleration [mm/s²] 'Motion acceleration' provides force [N] 'Force to be exerted in any direction' requires electric_power [W] requires mass [g] requires budget [$] }

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