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-rw-r--r--host/simu/robots/marcel/model/__init__.py0
-rw-r--r--host/simu/robots/marcel/model/bag.py50
2 files changed, 50 insertions, 0 deletions
diff --git a/host/simu/robots/marcel/model/__init__.py b/host/simu/robots/marcel/model/__init__.py
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+++ b/host/simu/robots/marcel/model/__init__.py
diff --git a/host/simu/robots/marcel/model/bag.py b/host/simu/robots/marcel/model/bag.py
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+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2010 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.
+#
+# }}}
+"""Marcel bag of models."""
+from simu.model.switch import Switch
+from simu.model.position import Position
+from simu.model.distance_sensor_sensopart import DistanceSensorSensopart
+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.distance_sensor = [
+ DistanceSensorSensopart (link_bag.io.adc[0], scheduler, table,
+ (30 - 20, 0), 0, (self.position, )),
+ DistanceSensorSensopart (link_bag.io.adc[1], scheduler, table,
+ (20 - 20, 20), pi * 40 / 180, (self.position, )),
+ DistanceSensorSensopart (link_bag.io.adc[2], scheduler, table,
+ (20 - 20, -20), -pi * 40 / 180, (self.position, )),
+ DistanceSensorSensopart (link_bag.io.adc[3], scheduler, table,
+ (-30 - 20, 0), pi, (self.position, )),
+ ]
+ link_bag.io.adc[4].value = 0
+ link_bag.io.adc[5].value = 0
+ self.path = link_bag.io.path
+