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-rw-r--r--host/simu/model/motor_basic.py75
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diff --git a/host/simu/model/motor_basic.py b/host/simu/model/motor_basic.py
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+# 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.
+#
+# }}}
+"""Very basic motor model."""
+from utils.observable import Observable
+
+class MotorBasic (Observable):
+
+ def __init__ (self, link, scheduler,
+ speed, min_stop = None, max_stop = None):
+ """Motor parameters:
+ - speed: rad/s for a 1.0 value.
+ - min_stop, max_stop: rad, mechanical stops."""
+ Observable.__init__ (self)
+ self.scheduler = scheduler
+ self.speed = speed
+ self.min_stop = min_stop
+ self.max_stop = max_stop
+ self.angle = 0
+ self.link = link
+ self.link.register (self.__notified)
+ self.value = None
+ self.last_update = self.scheduler.date
+ self.__notified ()
+ self.__timed_update ()
+
+ def __notified (self):
+ # Update angle.
+ self.__update ()
+ # Update value.
+ self.value = self.link.value
+ self.notify ()
+
+ def __timed_update (self):
+ # Update angle, reset limit.
+ self.limit = False
+ self.__update ()
+ self.notify ()
+ # Restart timer.
+ self.scheduler.schedule (self.scheduler.date
+ + int (self.scheduler.tick * 0.1), self.__timed_update)
+
+ def __update (self):
+ delta_t = (float (self.scheduler.date - self.last_update) /
+ self.scheduler.tick)
+ v = self.value or 0
+ self.angle += v * self.speed * delta_t
+ self.last_update = self.scheduler.date
+ if self.angle < self.min_stop:
+ self.angle = self.min_stop
+ self.limit = True
+ elif self.angle > self.max_stop:
+ self.angle = self.max_stop
+ self.limit = True
+