From 4909f63bea2598489a5895f9bbe1e2622093caa1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 30 Apr 2011 20:45:16 +0200 Subject: digital/io/tools, host/simu: add robospierre --- host/simu/robots/robospierre/model/bag.py | 57 +++++++++++++++++++++++++++++++ 1 file changed, 57 insertions(+) create mode 100644 host/simu/robots/robospierre/model/bag.py (limited to 'host/simu/robots/robospierre/model/bag.py') diff --git a/host/simu/robots/robospierre/model/bag.py b/host/simu/robots/robospierre/model/bag.py new file mode 100644 index 00000000..e6810e18 --- /dev/null +++ b/host/simu/robots/robospierre/model/bag.py @@ -0,0 +1,57 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2011 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. +# +# }}} +"""Robospierre bag of models.""" +from simu.model.switch import Switch +from simu.model.position import Position +from simu.model.motor_basic import MotorBasic +from simu.model.distance_sensor_sensopart import DistanceSensorSensopart +from simu.robots.robospierre.model.clamp import Clamp +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.clamping_motor = MotorBasic (link_bag.io.pwm[0], scheduler, + 2 * pi, 0, pi) + self.clamp = Clamp (table, self.position, link_bag.mimot.aux[0], + link_bag.mimot.aux[1], self.clamping_motor) + self.distance_sensor = [ + DistanceSensorSensopart (link_bag.io.adc[0], scheduler, table, + (20, -20), -pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io.adc[1], scheduler, table, + (20, 20), pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io.adc[2], scheduler, table, + (-20, 20), pi - pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io.adc[3], scheduler, table, + (-20, -20), pi + pi * 10 / 180, (self.position, ), 2), + ] + link_bag.io.adc[4].value = 0 + link_bag.io.adc[5].value = 0 + self.path = link_bag.io.path + self.pos_report = link_bag.io.pos_report + -- cgit v1.2.3