# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ # # 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. # # }}} from test_simu import TestSimu, run from Tkinter import * import math import io_hub.apbirthday class TestSimuControl (TestSimu): """Interface with extra control.""" def __init__ (self, robot_class, *args): TestSimu.__init__ (self, robot_class, *args, color_switch_set_pos = True) self.io = self.robots[0].io self.asserv = self.robots[0].asserv 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', 'cherry_plate_clamp_open', 'gift_in'), 'toggle') 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') Button (self.control_frame, text = 'FSM step', padx = 0, pady = 0, command = self.fsm_debug).pack () Button (self.control_frame, text = 'Asserv block', padx = 0, pady = 0, command = self.asserv_block).pack () def out_button (name, *toggle): def command (): self.io.output (io_hub.apbirthday.output_mask (*toggle), 'toggle') button = Button (self.control_frame, text = name, padx = 0, pady = 0, command = command) button.pack () out_button ('Arm in/out', 'cake_arm_in', 'cake_arm_out') out_button ('Push far in/out', 'cake_push_far_in', 'cake_push_far_out') 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_close', 'cherry_plate_clamp_open') out_button ('Gift', 'gift_in', 'gift_out') cannon_var = IntVar () def cannon_cmd (): self.io.potentiometer (0, 256 if cannon_var.get () else 0) Checkbutton (self.control_frame, text = 'Fire!', indicatoron = 0, variable = cannon_var, command = cannon_cmd).pack () self.backward_var = IntVar () self.backward_button = Checkbutton (self.control_frame, text = 'Backward', variable = self.backward_var) self.backward_button.pack () self.goto_var = IntVar () self.goto_button = Checkbutton (self.control_frame, text = 'Goto FSM', variable = self.goto_var) self.goto_button.pack () self.table_view.bind ('<1>', self.move) self.table_view.bind ('<3>', self.orient) def fsm_debug (self): self.io.fsm_debug () def asserv_block (self): self.asserv.block () def move (self, ev): pos = self.table_view.screen_coord ((ev.x, ev.y)) if self.goto_var.get (): self.io.goto (pos[0], pos[1], self.backward_var.get ()) else: self.asserv.goto (pos[0], pos[1], self.backward_var.get ()) 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) if __name__ == '__main__': run ('apbirthday', TestSimuControl)