From 5039808c1c648f3aedf81e9e5fc2762d38c4d171 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 30 Apr 2009 23:59:34 +0200 Subject: * digital/io/tools, host/simu: - added distance sensors and obstacles. --- host/simu/model/distance_sensor.py | 3 ++ host/simu/model/distance_sensor_sharps.py | 64 +++++++++++++++++++++++++++++++ host/simu/model/round_obstacle.py | 6 ++- 3 files changed, 72 insertions(+), 1 deletion(-) create mode 100644 host/simu/model/distance_sensor_sharps.py (limited to 'host/simu/model') 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. -- cgit v1.2.3