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/io/io.py | 2 +- digital/io/tools/robospierre.py | 39 ++++++++ digital/io/tools/test_simu.py | 3 + digital/io/tools/test_simu_control.py | 108 ---------------------- digital/io/tools/test_simu_control_marcel.py | 108 ++++++++++++++++++++++ digital/io/tools/test_simu_control_robospierre.py | 101 ++++++++++++++++++++ 6 files changed, 252 insertions(+), 109 deletions(-) create mode 100644 digital/io/tools/robospierre.py delete mode 100644 digital/io/tools/test_simu_control.py create mode 100644 digital/io/tools/test_simu_control_marcel.py create mode 100644 digital/io/tools/test_simu_control_robospierre.py (limited to 'digital/io') diff --git a/digital/io/tools/io/io.py b/digital/io/tools/io/io.py index 87471bbd..375ad38d 100644 --- a/digital/io/tools/io/io.py +++ b/digital/io/tools/io/io.py @@ -53,7 +53,7 @@ class Proto: self.proto.send ('s', 'BB', servo, high_time) def pwm_set (self, value, timer): - self.proto.send ('w', 'Hh', value, timer) + self.proto.send ('w', 'hH', value, timer) def loader (self, command): self.proto.send ('c', 'c', command) diff --git a/digital/io/tools/robospierre.py b/digital/io/tools/robospierre.py new file mode 100644 index 00000000..948faa8c --- /dev/null +++ b/digital/io/tools/robospierre.py @@ -0,0 +1,39 @@ +import simu.model.table_eurobot2011 +import simu.view.table_eurobot2011 + +import simu.robots.robospierre.link.bag +import simu.robots.robospierre.model.bag +import simu.robots.robospierre.view.bag + +import asserv +import asserv.init +import mimot +import mimot.init +import io +import io.init + +from proto.popen_io import PopenIO +import math + +class Robot: + + def __init__ (self, proto_time): + self.table_model = simu.model.table_eurobot2011 + self.table_view = simu.view.table_eurobot2011 + self.robot_link = simu.robots.robospierre.link.bag + self.robot_model = simu.robots.robospierre.model.bag + self.robot_view = simu.robots.robospierre.view.bag + asserv_cmd = ('../../asserv/src/asserv/asserv.host', '-m9', 'marcel') + mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel') + io_cmd = ('../src/io.host') + self.asserv = asserv.Proto (PopenIO (asserv_cmd), proto_time, + **asserv.init.host) + self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time, + **mimot.init.host) + self.io = io.Proto (PopenIO (io_cmd), proto_time, + **io.init.host) + self.robot_start_pos = { + False: (700, 2100 - 250, math.radians (-270)), + True: (3000 - 700, 2100 - 250, math.radians (-270)) + } + diff --git a/digital/io/tools/test_simu.py b/digital/io/tools/test_simu.py index 36a5cb1b..80008bb9 100644 --- a/digital/io/tools/test_simu.py +++ b/digital/io/tools/test_simu.py @@ -138,6 +138,9 @@ def run (default_robot, test_class = TestSimu): if options.robot == 'marcel': import marcel robot = marcel.Robot + elif options.robot == 'robospierre': + import robospierre + robot = robospierre.Robot else: parser.error ("unknown robot") app = test_class (robot) diff --git a/digital/io/tools/test_simu_control.py b/digital/io/tools/test_simu_control.py deleted file mode 100644 index 2a43b7bb..00000000 --- a/digital/io/tools/test_simu_control.py +++ /dev/null @@ -1,108 +0,0 @@ -# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ -# -# Copyright (C) 2009 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.""" - - 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_button = Checkbutton (self.control_frame, text = 'Clamp', - indicatoron = False, - variable = self.clamp_var, command = self.clamp_command) - self.clamp_button.pack () - self.elevator_var = IntVar () - self.elevator_button = Checkbutton (self.control_frame, - text = 'Elevator', indicatoron = False, - variable = self.elevator_var, command = self.elevator_command) - self.elevator_button.pack () - self.gate_var = IntVar () - self.gate_button = Checkbutton (self.control_frame, - text = 'Gate', indicatoron = False, - variable = self.gate_var, command = self.gate_command) - self.gate_button.pack () - self.loader_up_button = Button (self.control_frame, - text = 'Loader up', padx = 0, pady = 0, - command = self.loader_up_command) - self.loader_up_button.pack () - self.loader_down_button = Button (self.control_frame, - text = 'Loader down', padx = 0, pady = 0, - command = self.loader_down_command) - self.loader_down_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.mimot.clamp ('a0', 0x60, 0x100) - self.mimot.clamp ('a1', 0x60, 0x100) - else: - self.mimot.goto_pos ('a0', 0) - self.mimot.goto_pos ('a1', 0) - - def elevator_command (self): - if self.elevator_var.get (): - pos = 7089 - else: - pos = 0 - self.asserv.goto_pos ('a0', pos) - - def gate_command (self): - if self.gate_var.get (): - pos = -0x1d6b - else: - pos = 0 - self.asserv.goto_pos ('a1', pos) - - def loader_up_command (self): - self.io.loader ('u') - - def loader_down_command (self): - self.io.loader ('d') - - def change_color (self, *dummy): - pass - -if __name__ == '__main__': - run ('marcel', TestSimuControl) diff --git a/digital/io/tools/test_simu_control_marcel.py b/digital/io/tools/test_simu_control_marcel.py new file mode 100644 index 00000000..2a43b7bb --- /dev/null +++ b/digital/io/tools/test_simu_control_marcel.py @@ -0,0 +1,108 @@ +# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ +# +# Copyright (C) 2009 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.""" + + 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_button = Checkbutton (self.control_frame, text = 'Clamp', + indicatoron = False, + variable = self.clamp_var, command = self.clamp_command) + self.clamp_button.pack () + self.elevator_var = IntVar () + self.elevator_button = Checkbutton (self.control_frame, + text = 'Elevator', indicatoron = False, + variable = self.elevator_var, command = self.elevator_command) + self.elevator_button.pack () + self.gate_var = IntVar () + self.gate_button = Checkbutton (self.control_frame, + text = 'Gate', indicatoron = False, + variable = self.gate_var, command = self.gate_command) + self.gate_button.pack () + self.loader_up_button = Button (self.control_frame, + text = 'Loader up', padx = 0, pady = 0, + command = self.loader_up_command) + self.loader_up_button.pack () + self.loader_down_button = Button (self.control_frame, + text = 'Loader down', padx = 0, pady = 0, + command = self.loader_down_command) + self.loader_down_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.mimot.clamp ('a0', 0x60, 0x100) + self.mimot.clamp ('a1', 0x60, 0x100) + else: + self.mimot.goto_pos ('a0', 0) + self.mimot.goto_pos ('a1', 0) + + def elevator_command (self): + if self.elevator_var.get (): + pos = 7089 + else: + pos = 0 + self.asserv.goto_pos ('a0', pos) + + def gate_command (self): + if self.gate_var.get (): + pos = -0x1d6b + else: + pos = 0 + self.asserv.goto_pos ('a1', pos) + + def loader_up_command (self): + self.io.loader ('u') + + def loader_down_command (self): + self.io.loader ('d') + + def change_color (self, *dummy): + pass + +if __name__ == '__main__': + run ('marcel', TestSimuControl) 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