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authorNicolas Schodet2011-05-06 23:51:45 +0200
committerNicolas Schodet2011-05-07 00:43:56 +0200
commitc3f8b56ef5a44d0569566497b2a24550842c7512 (patch)
tree1e0cdc457dde8cfa040f48cb8b766b9796c7d9f6 /digital/io/tools/test_simu_control_robospierre.py
parent554c4baf249f68bb8f716af97cbf23daad73ef5c (diff)
digital/{ai,io}: move simu test script
Diffstat (limited to 'digital/io/tools/test_simu_control_robospierre.py')
-rw-r--r--digital/io/tools/test_simu_control_robospierre.py101
1 files changed, 0 insertions, 101 deletions
diff --git a/digital/io/tools/test_simu_control_robospierre.py b/digital/io/tools/test_simu_control_robospierre.py
deleted file mode 100644
index 9da57196..00000000
--- a/digital/io/tools/test_simu_control_robospierre.py
+++ /dev/null
@@ -1,101 +0,0 @@
-# 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)