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authorNicolas Schodet2013-05-04 16:04:28 +0200
committerNicolas Schodet2013-05-04 16:07:24 +0200
commit14441591529dee7d1d22a6d9515ace8bb4270b8b (patch)
treef6efb8b808f32715c7c507b0ba44e7a3f4f78795
parent66b3d174b1e246b984f1b001c16a4c07bb6e2754 (diff)
host/simu/robots/apbirthday: add gifts arm simulation
-rw-r--r--digital/ai/tools/test_simu_control_apbirthday.py3
-rw-r--r--host/simu/robots/apbirthday/model/bag.py6
-rw-r--r--host/simu/robots/apbirthday/model/gifts_arm.py45
-rw-r--r--host/simu/robots/apbirthday/view/bag.py2
-rw-r--r--host/simu/robots/apbirthday/view/robot.py11
5 files changed, 64 insertions, 3 deletions
diff --git a/digital/ai/tools/test_simu_control_apbirthday.py b/digital/ai/tools/test_simu_control_apbirthday.py
index 403bb9bf..5ec67e0e 100644
--- a/digital/ai/tools/test_simu_control_apbirthday.py
+++ b/digital/ai/tools/test_simu_control_apbirthday.py
@@ -38,7 +38,7 @@ class TestSimuControl (TestSimu):
self.robot_model = self.robots[0].model
self.io.output (io_hub.apbirthday.output_mask (
'cake_arm_in', 'cake_push_far_in', 'cake_push_near_in',
- 'cherry_plate_down'), 'toggle')
+ 'cherry_plate_down', 'gift_in'), 'toggle')
def create_widgets (self):
TestSimu.create_widgets (self)
@@ -61,6 +61,7 @@ class TestSimuControl (TestSimu):
out_button ('Push near in/out', 'cake_push_near_in', 'cake_push_near_out')
out_button ('Plate arm up/down', 'cherry_plate_up', 'cherry_plate_down')
out_button ('Plate clamp', 'cherry_plate_clamp')
+ out_button ('Gift', 'gift_in', 'gift_out')
cannon_var = IntVar ()
def cannon_cmd ():
self.io.potentiometer (0, 256 if cannon_var.get () else 0)
diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py
index 869b75cd..dd3d52f2 100644
--- a/host/simu/robots/apbirthday/model/bag.py
+++ b/host/simu/robots/apbirthday/model/bag.py
@@ -30,6 +30,7 @@ from simu.model.distance_sensor_sensopart import DistanceSensorSensopart
from simu.model.pneumatic_cylinder import PneumaticCylinder
from simu.robots.apbirthday.model.cake_arm import CakeArm
from simu.robots.apbirthday.model.cannon import Cannon
+from simu.robots.apbirthday.model.gifts_arm import GiftsArm
from math import pi
import random
@@ -86,6 +87,11 @@ class Bag:
(Switch (link_bag.cherry_plate_left_contact),
Switch (link_bag.cherry_plate_right_contact)),
link_bag.io_hub.potentiometer)
+ self.gifts_arm = GiftsArm (table, self.position,
+ PneumaticCylinder (
+ link_bag.gift_in,
+ link_bag.gift_out,
+ scheduler, 0., 1., 10., 10., 0.))
self.path = link_bag.io_hub.path
self.pos_report = link_bag.io_hub.pos_report
diff --git a/host/simu/robots/apbirthday/model/gifts_arm.py b/host/simu/robots/apbirthday/model/gifts_arm.py
new file mode 100644
index 00000000..5bbcd817
--- /dev/null
+++ b/host/simu/robots/apbirthday/model/gifts_arm.py
@@ -0,0 +1,45 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2013 Nicolas Schodet
+#
+# APBTeam:
+# Web: http://apbteam.org/
+# Email: team AT apbteam DOT org
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+#
+# }}}
+"""APBirthday gifts arm model."""
+from utils.observable import Observable
+from simu.utils.vector import vector
+
+class GiftsArm (Observable):
+
+ def __init__ (self, table, robot_position, arm_cyl):
+ Observable.__init__ (self)
+ self.table = table
+ self.robot_position = robot_position
+ self.arm_cyl = arm_cyl
+ self.arm_cyl.register (self.__arm_notified)
+
+ def __arm_notified (self):
+ if self.arm_cyl.pos > .9:
+ push_point = (vector (self.robot_position.pos)
+ + vector.polar (self.robot_position.angle - 90, 140 + 70))
+ gift = self.table.nearest (push_point, level = 0, max = 150)
+ if gift is not None and hasattr (gift, 'state'):
+ gift.state = True
+ gift.notify ()
+ self.notify ()
diff --git a/host/simu/robots/apbirthday/view/bag.py b/host/simu/robots/apbirthday/view/bag.py
index 68bd6827..343ebc71 100644
--- a/host/simu/robots/apbirthday/view/bag.py
+++ b/host/simu/robots/apbirthday/view/bag.py
@@ -40,7 +40,7 @@ class Bag:
self.robot_nb_switch = Switch (sensor_frame,
model_bag.robot_nb_switch, 'Nb robots')
self.robot = Robot (table, model_bag.position, model_bag.cake_arm,
- model_bag.cannon)
+ model_bag.cannon, model_bag.gifts_arm)
self.distance_sensor = [DistanceSensorUS (self.robot, ds)
for ds in model_bag.distance_sensor]
self.cake_front = DistanceSensor (self.robot, model_bag.cake_front)
diff --git a/host/simu/robots/apbirthday/view/robot.py b/host/simu/robots/apbirthday/view/robot.py
index 9675aff5..f473a341 100644
--- a/host/simu/robots/apbirthday/view/robot.py
+++ b/host/simu/robots/apbirthday/view/robot.py
@@ -24,6 +24,7 @@
"""APBirthday robot view."""
import simu.inter.drawable
from simu.view.table_eurobot2013 import PINK, colors
+import math
COLOR_ROBOT = '#000000'
COLOR_AXES = '#202040'
@@ -31,7 +32,8 @@ COLOR_CANNON = '#808080'
class Robot (simu.inter.drawable.Drawable):
- def __init__ (self, onto, position_model, cake_arm_model, cannon_model):
+ def __init__ (self, onto, position_model, cake_arm_model, cannon_model,
+ gifts_arm_model):
"""Construct and make connections."""
simu.inter.drawable.Drawable.__init__ (self, onto)
self.position_model = position_model
@@ -40,6 +42,8 @@ class Robot (simu.inter.drawable.Drawable):
self.cake_arm_model.register (self.update)
self.cannon_model = cannon_model
self.cannon_model.register (self.update)
+ self.gifts_arm_model = gifts_arm_model
+ self.gifts_arm_model.register (self.update)
def __position_notified (self):
"""Called on position modifications."""
@@ -91,6 +95,11 @@ class Robot (simu.inter.drawable.Drawable):
fill = '#%02x%02x%02x' % (gray, gray, gray)
self.draw_polygon ((x - 20, 140), (x - 20, e), (x + 20, e),
(x + 20, 140), fill = fill)
+ # Draw gifts arm.
+ m = self.gifts_arm_model
+ a = math.pi + m.arm_cyl.pos * math.pi / 6
+ self.draw_line ((0, -140), (0 + 108 * math.cos (a),
+ -140 + 108 * math.sin (a)))
# Extends.
simu.inter.drawable.Drawable.draw (self)