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authorNicolas Schodet2009-03-03 00:55:44 +0100
committerNicolas Schodet2009-03-03 00:55:44 +0100
commitdb0dd3f3982909155effb25f5aaa00e914e0a289 (patch)
treef545b7cfd68646ae6da405642b53f7ed4647eb05 /digital/asserv/tools/asserv/mex.py
parenta74aced592651ac6db61e2c46cae6bdcc843b32f (diff)
* digital/asserv/tools:
- added mex interface. - added proto position observable. - added more documentation.
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+# asserv - Position & speed motor control 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.
+#
+# }}} */
+"""Mex interface to asserv."""
+
+from utils.observable import Observable
+
+ID_POSITION = 0xa0
+ID_PWM = 0xa1
+ID_AUX = 0xa8
+
+class Mex:
+ """Handle communications with simulated asserv."""
+
+ class Position (Observable):
+ """Robot position.
+
+ - pos: (x, y) millimeters.
+ - angle: radian.
+
+ """
+
+ def __init__ (self, node):
+ Observable.__init__ (self)
+ self.pos = None
+ self.angle = None
+ node.register (ID_POSITION, self.__handle)
+
+ def __handle (self, msg):
+ x, y, a = msg.pop ('hhl')
+ self.pos = (x, y)
+ self.angle = float (a) / 1024
+ self.notify ()
+
+ class PWM (Observable):
+ """Motor PWM.
+
+ - pwm: current PWM value (hardware unit).
+
+ """
+
+ def __init__ (self, node):
+ Observable.__init__ (self)
+ self.pwm = None
+ node.register (ID_PWM, self.__handle)
+
+ def __handle (self, msg):
+ self.pwm = msg.pop ('hhh')
+ self.notify ()
+
+ class Aux (Observable):
+ """Auxiliary motor angle.
+
+ - angle: radian.
+
+ """
+
+ def __init__ (self):
+ Observable.__init__ (self)
+ self.angle = None
+
+ class Pack:
+ """Handle reception of several Aux for one message."""
+
+ def __init__ (self, node, list):
+ self.__list = list
+ node.register (ID_AUX, self.__handle)
+
+ def __handle (self, msg):
+ angles = msg.pop ('%dl' % len (self.__list))
+ for aux, angle in zip (self.__list, angles):
+ aux.angle = float (angle) / 1024
+ aux.notify ()
+
+ def __init__ (self, node):
+ self.position = self.Position (node)
+ self.pwm = self.PWM (node)
+ self.aux = (self.Aux (), )
+ self.__aux_pack = self.Aux.Pack (node, self.aux)
+