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authorNicolas Schodet2011-04-30 20:45:16 +0200
committerNicolas Schodet2011-04-30 20:45:46 +0200
commit4909f63bea2598489a5895f9bbe1e2622093caa1 (patch)
tree302ecbddc392ae78121cc5f9e166c067f576dfe5 /host/simu/robots/robospierre/model/bag.py
parentecdce887d87139db2e869e72918b4b5be8da5e67 (diff)
digital/io/tools, host/simu: add robospierre
Diffstat (limited to 'host/simu/robots/robospierre/model/bag.py')
-rw-r--r--host/simu/robots/robospierre/model/bag.py57
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diff --git a/host/simu/robots/robospierre/model/bag.py b/host/simu/robots/robospierre/model/bag.py
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+++ b/host/simu/robots/robospierre/model/bag.py
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+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""Robospierre bag of models."""
+from simu.model.switch import Switch
+from simu.model.position import Position
+from simu.model.motor_basic import MotorBasic
+from simu.model.distance_sensor_sensopart import DistanceSensorSensopart
+from simu.robots.robospierre.model.clamp import Clamp
+from math import pi
+
+class Bag:
+
+ def __init__ (self, scheduler, table, link_bag):
+ self.jack = Switch (link_bag.io.jack)
+ self.color_switch = Switch (link_bag.io.color_switch)
+ self.contact = [ Switch (contact) for contact in link_bag.io.contact ]
+ self.position = Position (link_bag.asserv.position)
+ self.clamping_motor = MotorBasic (link_bag.io.pwm[0], scheduler,
+ 2 * pi, 0, pi)
+ self.clamp = Clamp (table, self.position, link_bag.mimot.aux[0],
+ link_bag.mimot.aux[1], self.clamping_motor)
+ self.distance_sensor = [
+ DistanceSensorSensopart (link_bag.io.adc[0], scheduler, table,
+ (20, -20), -pi * 10 / 180, (self.position, ), 2),
+ DistanceSensorSensopart (link_bag.io.adc[1], scheduler, table,
+ (20, 20), pi * 10 / 180, (self.position, ), 2),
+ DistanceSensorSensopart (link_bag.io.adc[2], scheduler, table,
+ (-20, 20), pi - pi * 10 / 180, (self.position, ), 2),
+ DistanceSensorSensopart (link_bag.io.adc[3], scheduler, table,
+ (-20, -20), pi + pi * 10 / 180, (self.position, ), 2),
+ ]
+ link_bag.io.adc[4].value = 0
+ link_bag.io.adc[5].value = 0
+ self.path = link_bag.io.path
+ self.pos_report = link_bag.io.pos_report
+