From 49f4a007eebbf5bc1ac3a9c2c86d742963547875 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 15 Mar 2013 20:03:51 +0100 Subject: digital/ai, digital/io-hub, host/simu/robots: add basic APBirthday simulation --- host/simu/robots/apbirthday/link/bag.py | 46 +++++++++++++++++++++++++++++++++ 1 file changed, 46 insertions(+) create mode 100644 host/simu/robots/apbirthday/link/bag.py (limited to 'host/simu/robots/apbirthday/link/bag.py') diff --git a/host/simu/robots/apbirthday/link/bag.py b/host/simu/robots/apbirthday/link/bag.py new file mode 100644 index 00000000..8d3971d5 --- /dev/null +++ b/host/simu/robots/apbirthday/link/bag.py @@ -0,0 +1,46 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2013 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. +# +# }}} +"""APBirthday bag of links.""" +import io_hub.mex +import asserv.mex +from simu.link.mex_gpio import MexGpio + +class Bag: + + def __init__ (self, node, instance = 'robot0'): + self.asserv = asserv.mex.Mex (node, '%s:asserv0' % instance, + aux_nb = 0) + self.io_hub = io_hub.mex.Mex (node, '%s:io0' % instance, gpios = True) + gpios = ('raw_jack', 'ihm_color', 'ihm_strat', 'ihm_robot_nb', + 'ihm_lol', 'ihm_emerg_stop', 'glass_contact', + 'cherry_bad_out', 'cherry_bad_in', 'cherry_plate_up', + 'cherry_plate_down', 'cherry_plate_clamp', 'cake_arm_out', + 'cake_arm_in', 'cake_push_far_out', 'cake_push_far_in', + 'cake_push_near_out', 'cake_push_near_in', + 'glass_lower_clamp_close', 'glass_lower_clamp_open', + 'glass_upper_clamp_close', 'glass_upper_clamp_open', + 'glass_upper_clamp_up', 'glass_upper_clamp_down', 'gift_out', + 'gift_in', 'ballon_funny_action', 'pneum_open') + for gpio in gpios: + setattr (self, gpio, MexGpio (self.io_hub.gpios, gpio)) -- cgit v1.2.3