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authorNicolas Schodet2013-05-04 16:04:28 +0200
committerNicolas Schodet2013-05-04 16:07:24 +0200
commit14441591529dee7d1d22a6d9515ace8bb4270b8b (patch)
treef6efb8b808f32715c7c507b0ba44e7a3f4f78795 /host/simu/robots/apbirthday/model
parent66b3d174b1e246b984f1b001c16a4c07bb6e2754 (diff)
host/simu/robots/apbirthday: add gifts arm simulation
Diffstat (limited to 'host/simu/robots/apbirthday/model')
-rw-r--r--host/simu/robots/apbirthday/model/bag.py6
-rw-r--r--host/simu/robots/apbirthday/model/gifts_arm.py45
2 files changed, 51 insertions, 0 deletions
diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py
index 869b75cd..dd3d52f2 100644
--- a/host/simu/robots/apbirthday/model/bag.py
+++ b/host/simu/robots/apbirthday/model/bag.py
@@ -30,6 +30,7 @@ from simu.model.distance_sensor_sensopart import DistanceSensorSensopart
from simu.model.pneumatic_cylinder import PneumaticCylinder
from simu.robots.apbirthday.model.cake_arm import CakeArm
from simu.robots.apbirthday.model.cannon import Cannon
+from simu.robots.apbirthday.model.gifts_arm import GiftsArm
from math import pi
import random
@@ -86,6 +87,11 @@ class Bag:
(Switch (link_bag.cherry_plate_left_contact),
Switch (link_bag.cherry_plate_right_contact)),
link_bag.io_hub.potentiometer)
+ self.gifts_arm = GiftsArm (table, self.position,
+ PneumaticCylinder (
+ link_bag.gift_in,
+ link_bag.gift_out,
+ scheduler, 0., 1., 10., 10., 0.))
self.path = link_bag.io_hub.path
self.pos_report = link_bag.io_hub.pos_report
diff --git a/host/simu/robots/apbirthday/model/gifts_arm.py b/host/simu/robots/apbirthday/model/gifts_arm.py
new file mode 100644
index 00000000..5bbcd817
--- /dev/null
+++ b/host/simu/robots/apbirthday/model/gifts_arm.py
@@ -0,0 +1,45 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""APBirthday gifts arm model."""
+from utils.observable import Observable
+from simu.utils.vector import vector
+
+class GiftsArm (Observable):
+
+ def __init__ (self, table, robot_position, arm_cyl):
+ Observable.__init__ (self)
+ self.table = table
+ self.robot_position = robot_position
+ self.arm_cyl = arm_cyl
+ self.arm_cyl.register (self.__arm_notified)
+
+ def __arm_notified (self):
+ if self.arm_cyl.pos > .9:
+ push_point = (vector (self.robot_position.pos)
+ + vector.polar (self.robot_position.angle - 90, 140 + 70))
+ gift = self.table.nearest (push_point, level = 0, max = 150)
+ if gift is not None and hasattr (gift, 'state'):
+ gift.state = True
+ gift.notify ()
+ self.notify ()