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authorNicolas Schodet2009-04-30 09:53:44 +0200
committerNicolas Schodet2009-04-30 09:53:44 +0200
commit69305ae1ed6da084b6ee65dba3ce44f0d6cbe2d1 (patch)
treebb898529fc7e986429094dd9b5d28ce4397dbba7 /host/simu/robots/giboulee/view
parentfb3cfa5a0ac1acb58c2067cd1aad0339b534f982 (diff)
* host/simu, digital/io/tools:
- new simulation infrastructure.
Diffstat (limited to 'host/simu/robots/giboulee/view')
-rw-r--r--host/simu/robots/giboulee/view/__init__.py0
-rw-r--r--host/simu/robots/giboulee/view/arm.py60
-rw-r--r--host/simu/robots/giboulee/view/bag.py41
-rw-r--r--host/simu/robots/giboulee/view/robot.py64
-rw-r--r--host/simu/robots/giboulee/view/sorter.py61
5 files changed, 226 insertions, 0 deletions
diff --git a/host/simu/robots/giboulee/view/__init__.py b/host/simu/robots/giboulee/view/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/giboulee/view/__init__.py
diff --git a/host/simu/robots/giboulee/view/arm.py b/host/simu/robots/giboulee/view/arm.py
new file mode 100644
index 00000000..205857a2
--- /dev/null
+++ b/host/simu/robots/giboulee/view/arm.py
@@ -0,0 +1,60 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""Giboulee arm."""
+from simu.inter.drawable import Drawable
+from math import pi, cos, sin
+
+class Arm (Drawable):
+ """Giboulee arm."""
+
+ width = 1
+ height = 1
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+ self.__notified ()
+
+ def __notified (self):
+ self.angle = self.model.angle
+ self.update ()
+
+ def draw (self):
+ self.reset ()
+ self.draw_arc ((0, 0), 0.45, start = 7 * pi / 12, extent = 10 * pi / 12,
+ style = 'arc', outline = '#808080')
+ self.draw_arc ((0, 0), 0.45, start = -5 * pi / 12, extent = 10 * pi / 12,
+ style = 'arc', outline = '#808080')
+ self.draw_arc ((0, 0), 0.25, start = -7 * pi / 12, extent = 14 * pi / 12,
+ style = 'arc', outline = '#808080')
+ if self.angle is not None:
+ self.trans_scale (0.4)
+ self.trans_rotate (-self.angle)
+ self.draw_line ((0, 0), (0, 1))
+ self.draw_line ((0, 1), (0.3, 1), arrow = 'last', fill = '#808080')
+ self.draw_line ((0, 0), (cos (pi / 6), -sin (pi / 6)))
+ self.draw_line ((0, 0), (-cos (pi / 6), -sin (pi / 6)))
+ Drawable.draw (self)
+
diff --git a/host/simu/robots/giboulee/view/bag.py b/host/simu/robots/giboulee/view/bag.py
new file mode 100644
index 00000000..709d775f
--- /dev/null
+++ b/host/simu/robots/giboulee/view/bag.py
@@ -0,0 +1,41 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""Giboulee bag of views."""
+from simu.view.switch import Switch
+from simu.robots.giboulee.view.robot import Robot
+from simu.robots.giboulee.view.arm import Arm
+from simu.robots.giboulee.view.sorter import Sorter
+
+class Bag:
+
+ def __init__ (self, table, actuator_view, sensor_frame, model_bag):
+ self.jack = Switch (sensor_frame, model_bag.jack, 'Jack')
+ self.color_switch = Switch (sensor_frame, model_bag.color_switch,
+ 'Color')
+ self.robot = Robot (table, model_bag.position)
+ self.arm = Arm (actuator_view.add_view (Arm.width, Arm.height),
+ model_bag.arm)
+ self.sorter = Sorter (actuator_view.add_view (Sorter.width,
+ Sorter.height), model_bag.sorter)
+
diff --git a/host/simu/robots/giboulee/view/robot.py b/host/simu/robots/giboulee/view/robot.py
new file mode 100644
index 00000000..2ffcacb2
--- /dev/null
+++ b/host/simu/robots/giboulee/view/robot.py
@@ -0,0 +1,64 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2008 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.
+#
+# }}}
+"""Giboulee robot view."""
+import simu.inter.drawable
+
+class Robot (simu.inter.drawable.Drawable):
+
+ def __init__ (self, onto, position_model):
+ """Construct and make connections."""
+ simu.inter.drawable.Drawable.__init__ (self, onto)
+ self.position_model = position_model
+ self.position_model.register (self.__position_notified)
+ self.__position_notified ()
+
+ def __position_notified (self):
+ """Called on position modifications."""
+ self.pos = self.position_model.pos
+ self.angle = self.position_model.angle
+ self.update ()
+
+ def draw (self):
+ """Draw the robot."""
+ self.reset ()
+ if self.pos is not None:
+ self.trans_rotate (self.angle)
+ self.trans_translate (self.pos)
+ # Draw robot body.
+ self.draw_polygon ((115, 30), (170, 85), (150, 127), (130, 145),
+ (-25, 200), (-70, 200), (-70, -200), (-25, -200),
+ (130, -145), (150, -127), (170, -85), (115, -30))
+ # Draw Robot axis.
+ axes_fill = '#404040'
+ self.draw_line ((-70, 0), (170, 0), fill = axes_fill,
+ arrow = 'last')
+ # Draw Robot wheels.
+ f = 142 + 2 * 31.5 - 13.5 # Wheel spacing
+ wr = 63 / 2 # Wheel diameter
+ self.draw_line ((0, +f / 2), (0, -f / 2), fill = axes_fill)
+ self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = axes_fill)
+ self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = axes_fill)
+ # Extends.
+ simu.inter.drawable.Drawable.draw (self)
+
diff --git a/host/simu/robots/giboulee/view/sorter.py b/host/simu/robots/giboulee/view/sorter.py
new file mode 100644
index 00000000..a0e09197
--- /dev/null
+++ b/host/simu/robots/giboulee/view/sorter.py
@@ -0,0 +1,61 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""Giboulee balls sorter."""
+from simu.inter.drawable import Drawable
+from simu.view.servo import Servo
+from math import pi
+
+class Sorter (Drawable):
+
+ width = 1
+ height = 1
+
+ def __init__ (self, onto, sorter_model):
+ Drawable.__init__ (self, onto)
+ self.traps = [
+ Servo (self, sorter_model.traps[0],
+ (-2.5, -1), 0.8, 0, pi/2),
+ Servo (self, sorter_model.traps[1],
+ (-1.5, -0.9), 0.8, 0, pi/2),
+ Servo (self, sorter_model.traps[2],
+ (-0.5, -0.8), 0.8, 0, pi/2),
+ Servo (self, sorter_model.traps[3],
+ (0.5, -0.8), 0.8, pi, -pi/2),
+ Servo (self, sorter_model.traps[4],
+ (1.5, -0.9), 0.8, pi, -pi/2),
+ ]
+ self.door = Servo (self, sorter_model.door,
+ (-2.5, 1.3), 0.8, -pi/6, pi/3),
+
+ def draw (self):
+ self.reset ()
+ self.trans_scale (0.9/5)
+ self.draw_line ((-0.5, 1.5), (-0.5, 0.5), (-2.5, 0.2),
+ fill = '#808080')
+ self.draw_line ((-2.5, -1.2), (-2.5, -2.3), (2.5, -2.3), (2.5, 0.2),
+ (0.5, 0.5), (0.5, 1.5), fill = '#808080')
+ for i in (-1.5, -0.5, 0.5, 1.5):
+ self.draw_line ((i, -2.3), (i, -2), fill = '#808080')
+ Drawable.draw (self)
+