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-rw-r--r--host/simu/model/distance_sensor.py3
-rw-r--r--host/simu/model/distance_sensor_sharps.py64
-rw-r--r--host/simu/model/round_obstacle.py6
3 files changed, 72 insertions, 1 deletions
diff --git a/host/simu/model/distance_sensor.py b/host/simu/model/distance_sensor.py
index 0fa34d15..3dc83f45 100644
--- a/host/simu/model/distance_sensor.py
+++ b/host/simu/model/distance_sensor.py
@@ -43,6 +43,9 @@ class DistanceSensor:
pos, target = self.pos, self.target
m = TransMatrix ()
for i in self.into:
+ if i.pos is None:
+ self.distance = None
+ return
m.rotate (i.angle)
m.translate (i.pos)
pos, target = m.apply (pos, target)
diff --git a/host/simu/model/distance_sensor_sharps.py b/host/simu/model/distance_sensor_sharps.py
new file mode 100644
index 00000000..b4cf1e33
--- /dev/null
+++ b/host/simu/model/distance_sensor_sharps.py
@@ -0,0 +1,64 @@
+# 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.
+#
+# }}}
+from utils.observable import Observable
+from simu.model.distance_sensor import DistanceSensor
+
+class DistanceSensorSharps (Observable, DistanceSensor):
+
+ RANGE = 800
+ NEAR = 70
+ A = 0.36
+ B = 177.26
+
+ def __init__ (self, link, scheduler, table, pos, angle, into = None,
+ level = 0):
+ Observable.__init__ (self)
+ DistanceSensor.__init__ (self, table, pos, angle, self.RANGE, into,
+ level)
+ self.link = link
+ self.scheduler = scheduler
+ self.register (self.__update)
+ self.evaluate ()
+
+ def evaluate (self):
+ # Compute real distance.
+ DistanceSensor.evaluate (self)
+ # Convert to sharps voltage.
+ d = self.distance
+ if self.distance is None:
+ d = self.RANGE
+ if d < self.NEAR:
+ self.value = d / self.NEAR * (self.A + self.B / self.NEAR)
+ else:
+ self.value = self.A + self.B / d
+ # Update observers.
+ self.notify ()
+ # Prepare next update.
+ self.scheduler.schedule (self.scheduler.date
+ + int (self.scheduler.tick * 0.040), self.evaluate)
+
+ def __update (self):
+ self.link.value = self.value
+ self.link.notify ()
+
diff --git a/host/simu/model/round_obstacle.py b/host/simu/model/round_obstacle.py
index fc0cfc6a..6658ed19 100644
--- a/host/simu/model/round_obstacle.py
+++ b/host/simu/model/round_obstacle.py
@@ -23,10 +23,12 @@
# }}}
"""Obstacle with a round shape."""
from math import pi, cos, sin, sqrt
+from utils.observable import Observable
-class RoundObstacle:
+class RoundObstacle (Observable):
def __init__ (self, radius, level = 0):
+ Observable.__init__ (self)
self.pos = None
self.radius = radius
self.level = level
@@ -34,6 +36,8 @@ class RoundObstacle:
def intersect (self, a, b):
"""If the segment [AB] intersects the obstacle, return distance from a
to intersection point, else, return None."""
+ if self.pos is None:
+ return None
ab = sqrt ((b[0] - a[0]) ** 2 + (b[1] - a[1]) ** 2) # distance AB.
n = ((b[0] - a[0]) / ab, (b[1] - a[1]) / ab) # vector of length 1.
o = self.pos # obstacle center.