From b2eeb382f494eea1c96656cc8a9e6719a6294d8f Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 30 Mar 2012 00:08:05 +0200 Subject: host/simu/robots/guybrush: add lower clamp --- host/simu/robots/guybrush/model/bag.py | 7 ++++ host/simu/robots/guybrush/model/clamps.py | 49 +++++++++++++++++++++++++ host/simu/robots/guybrush/view/bag.py | 3 ++ host/simu/robots/guybrush/view/clamps.py | 60 +++++++++++++++++++++++++++++++ 4 files changed, 119 insertions(+) create mode 100644 host/simu/robots/guybrush/model/clamps.py create mode 100644 host/simu/robots/guybrush/view/clamps.py (limited to 'host/simu/robots') diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py index fda35ce0..6ff18194 100644 --- a/host/simu/robots/guybrush/model/bag.py +++ b/host/simu/robots/guybrush/model/bag.py @@ -25,6 +25,8 @@ from simu.model.switch import Switch from simu.model.position import Position from simu.model.distance_sensor_sensopart import DistanceSensorSensopart +from simu.model.pneumatic_cylinder import PneumaticCylinder +from simu.robots.guybrush.model.clamps import Clamps from math import pi import random @@ -37,6 +39,11 @@ class Bag: 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.clamps = Clamps (table, self.position, link_bag.mimot.aux[0], + (PneumaticCylinder (None, link_bag.io_hub.output[8], + scheduler, 0., 30., 150., 75., 30.), + PneumaticCylinder (None, link_bag.io_hub.output[9], + scheduler, 0., 30., 150., 75., 30.))) self.distance_sensor = [ DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table, (20, 20), pi * 10 / 180, (self.position, ), 2), diff --git a/host/simu/robots/guybrush/model/clamps.py b/host/simu/robots/guybrush/model/clamps.py new file mode 100644 index 00000000..e99401cd --- /dev/null +++ b/host/simu/robots/guybrush/model/clamps.py @@ -0,0 +1,49 @@ +# 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 clamps.""" +from utils.observable import Observable + +class Clamps (Observable): + + def __init__ (self, table, robot_position, lower_clamp_motor, + lower_clamp_cylinders): + Observable.__init__ (self) + self.table = table + self.robot_position = robot_position + self.lower_clamp_motor = lower_clamp_motor + self.lower_clamp_cylinders = lower_clamp_cylinders + self.lower_clamp_clamping = [ None, None ] + self.lower_clamp_motor.register (self.__lower_clamp_notified) + for c in self.lower_clamp_cylinders: + c.register (self.__lower_clamp_notified) + + def __lower_clamp_notified (self): + self.lower_clamp_rotation = self.lower_clamp_motor.angle + for i, c in enumerate (self.lower_clamp_cylinders): + if c.pos is None: + self.lower_clamp_clamping[i] = None + else: + self.lower_clamp_clamping[i] = (1.0 + - (c.pos - c.pos_in) / (c.pos_out - c.pos_in)) + self.notify () diff --git a/host/simu/robots/guybrush/view/bag.py b/host/simu/robots/guybrush/view/bag.py index 7af72be6..f512886a 100644 --- a/host/simu/robots/guybrush/view/bag.py +++ b/host/simu/robots/guybrush/view/bag.py @@ -27,6 +27,7 @@ from simu.view.distance_sensor_us import DistanceSensorUS from simu.view.path import Path from simu.view.pos_report import PosReport from simu.robots.guybrush.view.robot import Robot +from simu.robots.guybrush.view.clamps import ClampsSide class Bag: @@ -37,6 +38,8 @@ class Bag: self.strat_switch = Switch (sensor_frame, model_bag.strat_switch, 'Strat') self.robot = Robot (table, model_bag.position) + self.clamps = ClampsSide (actuator_view.add_view (ClampsSide.width, + ClampsSide.height), model_bag.clamps) self.distance_sensor = [DistanceSensorUS (self.robot, ds) for ds in model_bag.distance_sensor] self.path = Path (table, model_bag.path) diff --git a/host/simu/robots/guybrush/view/clamps.py b/host/simu/robots/guybrush/view/clamps.py new file mode 100644 index 00000000..11ef09b8 --- /dev/null +++ b/host/simu/robots/guybrush/view/clamps.py @@ -0,0 +1,60 @@ +# 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 clamps.""" +from simu.inter.drawable import Drawable +from math import pi + +GREY = '#808080' +BLACK = '#000000' + +class ClampsSide (Drawable): + + width = 440 + height = 350 + + def __init__ (self, onto, model): + Drawable.__init__ (self, onto) + self.model = model + self.model.register (self.update) + + def draw (self): + self.reset () + # Draw base from side. + self.trans_translate ((50, -150)) + self.draw_line ((-93, 0), (130, 0), fill = GREY) + # Draw lower clamp. + if self.model.lower_clamp_rotation is not None: + self.trans_push () + self.trans_translate ((-117, 84)) + self.trans_rotate (-self.model.lower_clamp_rotation) + self.draw_polygon ((6, -45), (28, 45), (-6, 45), (-28, -45), + outline = BLACK, fill = GREY) + for i in (0, 1): + c = self.model.lower_clamp_clamping[i] + if c is not None: + self.draw_line ((7, -45), (7, -46 - c * 33), + (-28, -46 - c * 33)) + if not i: + self.trans_rotate (pi) + self.trans_pop () -- cgit v1.2.3