From b205ee5bcb6adacf9b23448bf17ee0ff8bd16ae3 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 26 Mar 2012 01:01:02 +0200 Subject: digital/{ai, io-hub}, host/simu/robots: add guybrush Still use robospierre parameters for asserv and mimot --- host/simu/robots/guybrush/model/__init__.py | 0 host/simu/robots/guybrush/model/bag.py | 52 +++++++++++++++++++++++++++++ 2 files changed, 52 insertions(+) create mode 100644 host/simu/robots/guybrush/model/__init__.py create mode 100644 host/simu/robots/guybrush/model/bag.py (limited to 'host/simu/robots/guybrush/model') diff --git a/host/simu/robots/guybrush/model/__init__.py b/host/simu/robots/guybrush/model/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py new file mode 100644 index 00000000..fda35ce0 --- /dev/null +++ b/host/simu/robots/guybrush/model/bag.py @@ -0,0 +1,52 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2012 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. +# +# }}} +"""Guybrush 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 +import random + +class Bag: + + def __init__ (self, scheduler, table, link_bag): + self.color_switch = Switch (link_bag.io_hub.contact[0], invert = True) + self.color_switch.state = random.choice ((False, True)) + self.color_switch.notify () + self.jack = Switch (link_bag.io_hub.contact[1], invert = True) + self.strat_switch = Switch (link_bag.io_hub.contact[2], invert = True) + self.position = Position (link_bag.asserv.position) + self.distance_sensor = [ + DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table, + (20, 20), pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table, + (20, -20), -pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table, + (-20, -20), pi + pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table, + (-20, 20), pi - pi * 10 / 180, (self.position, ), 2), + ] + self.path = link_bag.io_hub.path + self.pos_report = link_bag.io_hub.pos_report + -- cgit v1.2.3