From 4909f63bea2598489a5895f9bbe1e2622093caa1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 30 Apr 2011 20:45:16 +0200 Subject: digital/io/tools, host/simu: add robospierre --- digital/io/tools/test_simu_control_robospierre.py | 101 ++++++++++++++++++++++ 1 file changed, 101 insertions(+) create mode 100644 digital/io/tools/test_simu_control_robospierre.py (limited to 'digital/io/tools/test_simu_control_robospierre.py') diff --git a/digital/io/tools/test_simu_control_robospierre.py b/digital/io/tools/test_simu_control_robospierre.py new file mode 100644 index 00000000..9da57196 --- /dev/null +++ b/digital/io/tools/test_simu_control_robospierre.py @@ -0,0 +1,101 @@ +# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ +# +# Copyright (C) 2011 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. +# +# }}} +from test_simu import TestSimu, run +from Tkinter import * +import math + +class TestSimuControl (TestSimu): + """Interface with extra control.""" + + ELEVATION_STROKE = 0x3b0b + + ROTATION_STROKE = 0x11c6 + + def __init__ (self, robot_class): + TestSimu.__init__ (self, robot_class) + + def create_widgets (self): + TestSimu.create_widgets (self) + self.control_frame = Frame (self) + self.control_frame.pack (side = 'left', before = self.table_view, + fill = 'y') + self.clamp_var = IntVar () + self.clamp_var.set (1) + self.clamp_button = Checkbutton (self.control_frame, text = 'Clamp', + indicatoron = False, + variable = self.clamp_var, command = self.clamp_command) + self.clamp_button.pack () + self.elevation_up_button = Button (self.control_frame, + text = 'Elevation up', padx = 0, pady = 0, + command = self.elevation_up_command) + self.elevation_up_button.pack () + self.elevation_down_button = Button (self.control_frame, + text = 'Elevation down', padx = 0, pady = 0, + command = self.elevation_down_command) + self.elevation_down_button.pack () + self.rotation_cw_button = Button (self.control_frame, + text = 'Rotation cw', padx = 0, pady = 0, + command = self.rotation_cw_command) + self.rotation_cw_button.pack () + self.rotation_ccw_button = Button (self.control_frame, + text = 'Rotation ccw', padx = 0, pady = 0, + command = self.rotation_ccw_command) + self.rotation_ccw_button.pack () + self.table_view.bind ('<1>', self.move) + self.table_view.bind ('<3>', self.orient) + + def move (self, ev): + pos = self.table_view.screen_coord ((ev.x, ev.y)) + self.asserv.goto (pos[0], pos[1]) + + def orient (self, ev): + x, y = self.table_view.screen_coord ((ev.x, ev.y)) + robot_pos = self.robot_model.position.pos + if robot_pos is not None: + a = math.atan2 (y - robot_pos[1], x - robot_pos[0]) + self.asserv.goto_angle (a) + + def clamp_command (self): + if self.clamp_var.get (): + self.io.pwm_set (-0x7fff, 255) + else: + self.io.pwm_set (0x7fff, 255) + + def elevation_up_command (self): + self.mimot.speed_pos ('a0', self.ELEVATION_STROKE / 2) + + def elevation_down_command (self): + self.mimot.speed_pos ('a0', -self.ELEVATION_STROKE / 2) + + def rotation_cw_command (self): + self.mimot.speed_pos ('a1', self.ROTATION_STROKE / 2) + + def rotation_ccw_command (self): + self.mimot.speed_pos ('a1', -self.ROTATION_STROKE / 2) + + def change_color (self, *dummy): + pass + +if __name__ == '__main__': + run ('robospierre', TestSimuControl) -- cgit v1.2.3