From 87b4c012e650c73fa9729289c49fd8d0a85f718f Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 1 Apr 2010 23:56:44 +0200 Subject: host/simu: add Sensopart distance sensor support, closes #126 --- host/simu/model/distance_sensor_sensopart.py | 101 +++++++++++++++++++++++++++ host/simu/view/distance_sensor_us.py | 36 ++++++++++ 2 files changed, 137 insertions(+) create mode 100644 host/simu/model/distance_sensor_sensopart.py create mode 100644 host/simu/view/distance_sensor_us.py diff --git a/host/simu/model/distance_sensor_sensopart.py b/host/simu/model/distance_sensor_sensopart.py new file mode 100644 index 00000000..e7be510f --- /dev/null +++ b/host/simu/model/distance_sensor_sensopart.py @@ -0,0 +1,101 @@ +# 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. +# +# }}} +"""Sensopart UT20 model.""" +from utils.observable import Observable +from simu.model.distance_sensor import DistanceSensor +from math import pi + +class DistanceSensorSensopart (Observable): + + # Nominal range of the sensor. + RANGE = 700 + # Reflection quality. If 1, the sensor will see at most exactly to the + # nominal distance, which is almost never the case, it is always more than + # that. + QUALITY = 1.6 + # Secondary rays. The simulated sensor will use several lines to sense + # objects, this are for each secondary line, its angle and distance ratio + # (see sensor area diagram). + SECONDARY = ((0.07, 0.8), (0.28, 0.4)) + # Calibrated values. + MIN = 100 + MAX = 700 + # Output levels for MIN/MAX. + OMIN = 250 * 0.004 + OMAX = 250 * 0.020 + + def __init__ (self, link, scheduler, table, pos, angle, into = None, + level = 0): + Observable.__init__ (self) + self.rays = [ ] + range = self.RANGE * self.QUALITY + self.rays.append (DistanceSensorSensopartRay (table, pos, angle, + range, into, level)) + for s in self.SECONDARY: + for i in (-1, 1): + self.rays.append (DistanceSensorSensopartRay (table, pos, + angle + s[0] * i, range * s[1], into, level)) + self.link = link + self.scheduler = scheduler + self.value = None + self.register (self.__update) + self.evaluate () + + def evaluate (self): + # Compute real distance. + d = None + for r in self.rays: + r.evaluate () + if d is None or r.distance < d: + d = r.distance + # Convert to voltage. + if d is None or d > self.MAX: + self.value = self.OMAX + elif d < self.MIN: + self.value = self.OMIN + else: + self.value = (d - self.MIN) / (self.MAX - self.MIN) * (self.OMAX - + self.OMIN) + # Update observers. + self.notify () + # Prepare next update. + self.scheduler.schedule (self.scheduler.date + + int (self.scheduler.tick * 0.030), self.evaluate) + + def __update (self): + self.link.value = self.value + self.link.notify () + +class DistanceSensorSensopartRay (Observable, DistanceSensor): + + def __init__ (self, *args): + Observable.__init__ (self) + DistanceSensor.__init__ (self, *args) + + def evaluate (self): + # Compute real distance. + DistanceSensor.evaluate (self) + # Update observers. + self.notify () + diff --git a/host/simu/view/distance_sensor_us.py b/host/simu/view/distance_sensor_us.py new file mode 100644 index 00000000..34e27891 --- /dev/null +++ b/host/simu/view/distance_sensor_us.py @@ -0,0 +1,36 @@ +# 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. +# +# }}} +"""Generic ultra sonic distance sensor (use several rays).""" +from simu.inter.drawable import Drawable +from simu.view.distance_sensor import DistanceSensor + +class DistanceSensorUS (Drawable): + + def __init__ (self, onto, model): + Drawable.__init__ (self, onto) + self.model = model + self.rays = [ ] + for r in model.rays: + self.rays.append (DistanceSensor (onto, r)) + -- cgit v1.2.3