From ed97e035bcb27ab8a1c1f91692728cd8f3f746fd Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 1 Apr 2010 23:56:57 +0200 Subject: host/simu/robots: add 2010 robot, closes #125 --- host/simu/robots/marcel/model/__init__.py | 0 host/simu/robots/marcel/model/bag.py | 50 +++++++++++++++++++++++++++++++ 2 files changed, 50 insertions(+) create mode 100644 host/simu/robots/marcel/model/__init__.py create mode 100644 host/simu/robots/marcel/model/bag.py (limited to 'host/simu/robots/marcel/model') diff --git a/host/simu/robots/marcel/model/__init__.py b/host/simu/robots/marcel/model/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/marcel/model/bag.py b/host/simu/robots/marcel/model/bag.py new file mode 100644 index 00000000..ab4814e0 --- /dev/null +++ b/host/simu/robots/marcel/model/bag.py @@ -0,0 +1,50 @@ +# 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 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 + +class Bag: + + def __init__ (self, scheduler, table, link_bag): + self.jack = Switch (link_bag.io.jack) + 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.distance_sensor = [ + DistanceSensorSensopart (link_bag.io.adc[0], scheduler, table, + (30 - 20, 0), 0, (self.position, )), + DistanceSensorSensopart (link_bag.io.adc[1], scheduler, table, + (20 - 20, 20), pi * 40 / 180, (self.position, )), + DistanceSensorSensopart (link_bag.io.adc[2], scheduler, table, + (20 - 20, -20), -pi * 40 / 180, (self.position, )), + DistanceSensorSensopart (link_bag.io.adc[3], scheduler, table, + (-30 - 20, 0), pi, (self.position, )), + ] + link_bag.io.adc[4].value = 0 + link_bag.io.adc[5].value = 0 + self.path = link_bag.io.path + -- cgit v1.2.3