XYInterface

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interface mcdp { ''' 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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Templatized                                                                        
│  provides   workspace      SB(≥0) m     │ requires   electric_power   SB(≥0) W   
│  provides   payload_mass   SB(≥0) g     │ requires   mass             SB(≥0) g   
│  provides   precision      SB(≥0) 1/mm  │ requires   budget           SB(≥0) $   
│  provides   velocity       SB(≥0) mm/s  │                                        
│  provides   acceleration   SB(≥0) mm/s² │                                        
│  provides   force          SB(≥0) N     │                                        
└ Template WU ⟨m,g,1/mm,mm/s,mm/s²,N⟩  ⇸  SB(≥0)×SB(≥0)×SB(≥0) ⟨W,g,$⟩ val = * > ()
           └ Π<6>                                                                  
             ├    workspace: SB(≥0)                                                
             ├ payload_mass: SB(≥0)                                                
             ├    precision: SB(≥0)                                                
             ├     velocity: SB(≥0)                                                
             ├ acceleration: SB(≥0)                                                
             └        force: SB(≥0)                                                
   template