From 5532fb5e50d071be08e3c37404d1755748762d7c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 29 Apr 2010 23:04:20 +0200 Subject: host/simu/robots/marcel: add actuator simulation, refs #131 --- host/simu/robots/marcel/model/bag.py | 3 + host/simu/robots/marcel/model/loader.py | 135 ++++++++++++++++++++++++++++++++ 2 files changed, 138 insertions(+) create mode 100644 host/simu/robots/marcel/model/loader.py (limited to 'host/simu/robots/marcel/model') diff --git a/host/simu/robots/marcel/model/bag.py b/host/simu/robots/marcel/model/bag.py index 5cf276de..ce8eaab4 100644 --- a/host/simu/robots/marcel/model/bag.py +++ b/host/simu/robots/marcel/model/bag.py @@ -24,6 +24,7 @@ """Marcel bag of models.""" from simu.model.switch import Switch from simu.model.position import Position +from simu.robots.marcel.model.loader import Loader from simu.model.distance_sensor_sensopart import DistanceSensorSensopart from math import pi @@ -34,6 +35,8 @@ class Bag: 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.loader = Loader (table, self.position, link_bag.mimot.aux[0], + link_bag.mimot.aux[1], link_bag.asserv.aux[0]) self.distance_sensor = [ DistanceSensorSensopart (link_bag.io.adc[0], scheduler, table, (30 - 20, 0), 0, (self.position, ), 2), diff --git a/host/simu/robots/marcel/model/loader.py b/host/simu/robots/marcel/model/loader.py new file mode 100644 index 00000000..00741808 --- /dev/null +++ b/host/simu/robots/marcel/model/loader.py @@ -0,0 +1,135 @@ +# 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 food loader.""" +from utils.observable import Observable +from simu.utils.trans_matrix import TransMatrix +from math import pi + +class Loader (Observable): + + CLAMP_PULLEY_RADIUS = 5.5 + CLAMP_WIDTH = 250 + CLAMP_LENGTH = 100 + + ELEVATOR_PULLEY_RADIUS = 10 + ELEVATOR_LINEAR_STROKE = 50 + ELEVATOR_ROTATING_STROKE = 100 + + FRONT_ZONE_X_MIN = 120 + 15 + FRONT_ZONE_X_MAX = 120 + CLAMP_LENGTH - 15 + + def __init__ (self, table, robot_position, left_clamp_link, right_clamp_link, + elevator_link): + Observable.__init__ (self) + self.table = table + self.robot_position = robot_position + self.clamp_link = (left_clamp_link, right_clamp_link) + self.elevator_link = elevator_link + self.clamp_load = [ ] + self.load = [ ] + self.clamp_pos = [ None, None ] + self.clamp_link[0].register (self.__left_clamp_notified) + self.clamp_link[1].register (self.__right_clamp_notified) + self.elevator_link.register (self.__elevator_notified) + + def __elevator_notified (self): + if self.elevator_link.angle is None: + self.elevator_height = None + self.elevator_angle = None + else: + # Update elevator position. + self.elevator_height = (self.elevator_link.angle + * self.ELEVATOR_PULLEY_RADIUS) + if self.elevator_height < self.ELEVATOR_LINEAR_STROKE: + self.elevator_angle = 0 + else: + self.elevator_angle = ((self.elevator_height - + self.ELEVATOR_LINEAR_STROKE) + / self.ELEVATOR_ROTATING_STROKE * pi) + self.notify () + + def __clamp_notified (self, clamp): + if self.clamp_link[clamp].angle is None: + self.clamp_pos[clamp] = None + else: + # Update clamp position. + self.clamp_pos[clamp] = (self.clamp_link[clamp].angle + * self.CLAMP_PULLEY_RADIUS) + # If elevator is low, pick elements. + if (not self.clamp_load + and self.elevator_height < self.ELEVATOR_LINEAR_STROKE): + elements = self.__get_front_elements () + if elements: + black = sum (hasattr (e, 'black') and e.black for e in + elements) + tickness = sum (e.radius * 2 for e in elements) + if (not black and self.CLAMP_WIDTH - sum (self.clamp_pos) + <= tickness): + for e in elements: + e.pos = None + e.notify () + self.clamp_load = elements + # If elevator is high, drop elements. + if (self.clamp_load + and self.elevator_height > self.ELEVATOR_LINEAR_STROKE + + self.ELEVATOR_ROTATING_STROKE * 2 / 3): + tickness = sum (e.radius * 2 for e in self.clamp_load) + if self.CLAMP_WIDTH - sum (self.clamp_pos) > tickness: + self.load += self.clamp_load + self.clamp_load = [ ] + self.notify () + + def __left_clamp_notified (self): + self.__clamp_notified (0) + + def __right_clamp_notified (self): + self.__clamp_notified (1) + + def __get_front_elements (self): + """Return a list of elements in front of the robot, between clamp.""" + elements = [ ] + if (self.robot_position is None + or self.clamp_pos[0] is None + or self.clamp_pos[1] is None): + return None + # Matrix to transform an obstacle position into robot coordinates. + m = TransMatrix () + m.translate ((-self.robot_position.pos[0], + -self.robot_position.pos[1])) + m.rotate (-self.robot_position.angle) + # Look up elements. + # This could be used if clamp blocking is handled or elements are + # pushed: + #ymin = -self.CLAMP_WIDTH / 2 + self.clamp_pos[1] + #ymax = self.CLAMP_WIDTH / 2 - self.clamp_pos[0] + ymin = -self.CLAMP_WIDTH + 40 + ymax = self.CLAMP_WIDTH - 40 + for o in self.table.obstacles: + if o.level == 1 and o.pos is not None: + pos = m.apply (o.pos) + if (pos[0] > self.FRONT_ZONE_X_MIN + and pos[0] < self.FRONT_ZONE_X_MAX + and pos[1] > ymin and pos[1] < ymax): + elements.append (o) + return elements -- cgit v1.2.3