From 14441591529dee7d1d22a6d9515ace8bb4270b8b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 4 May 2013 16:04:28 +0200 Subject: host/simu/robots/apbirthday: add gifts arm simulation --- host/simu/robots/apbirthday/model/bag.py | 6 ++++ host/simu/robots/apbirthday/model/gifts_arm.py | 45 ++++++++++++++++++++++++++ host/simu/robots/apbirthday/view/bag.py | 2 +- host/simu/robots/apbirthday/view/robot.py | 11 ++++++- 4 files changed, 62 insertions(+), 2 deletions(-) create mode 100644 host/simu/robots/apbirthday/model/gifts_arm.py (limited to 'host/simu') diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py index 869b75cd..dd3d52f2 100644 --- a/host/simu/robots/apbirthday/model/bag.py +++ b/host/simu/robots/apbirthday/model/bag.py @@ -30,6 +30,7 @@ from simu.model.distance_sensor_sensopart import DistanceSensorSensopart from simu.model.pneumatic_cylinder import PneumaticCylinder from simu.robots.apbirthday.model.cake_arm import CakeArm from simu.robots.apbirthday.model.cannon import Cannon +from simu.robots.apbirthday.model.gifts_arm import GiftsArm from math import pi import random @@ -86,6 +87,11 @@ class Bag: (Switch (link_bag.cherry_plate_left_contact), Switch (link_bag.cherry_plate_right_contact)), link_bag.io_hub.potentiometer) + self.gifts_arm = GiftsArm (table, self.position, + PneumaticCylinder ( + link_bag.gift_in, + link_bag.gift_out, + scheduler, 0., 1., 10., 10., 0.)) self.path = link_bag.io_hub.path self.pos_report = link_bag.io_hub.pos_report diff --git a/host/simu/robots/apbirthday/model/gifts_arm.py b/host/simu/robots/apbirthday/model/gifts_arm.py new file mode 100644 index 00000000..5bbcd817 --- /dev/null +++ b/host/simu/robots/apbirthday/model/gifts_arm.py @@ -0,0 +1,45 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2013 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. +# +# }}} +"""APBirthday gifts arm model.""" +from utils.observable import Observable +from simu.utils.vector import vector + +class GiftsArm (Observable): + + def __init__ (self, table, robot_position, arm_cyl): + Observable.__init__ (self) + self.table = table + self.robot_position = robot_position + self.arm_cyl = arm_cyl + self.arm_cyl.register (self.__arm_notified) + + def __arm_notified (self): + if self.arm_cyl.pos > .9: + push_point = (vector (self.robot_position.pos) + + vector.polar (self.robot_position.angle - 90, 140 + 70)) + gift = self.table.nearest (push_point, level = 0, max = 150) + if gift is not None and hasattr (gift, 'state'): + gift.state = True + gift.notify () + self.notify () diff --git a/host/simu/robots/apbirthday/view/bag.py b/host/simu/robots/apbirthday/view/bag.py index 68bd6827..343ebc71 100644 --- a/host/simu/robots/apbirthday/view/bag.py +++ b/host/simu/robots/apbirthday/view/bag.py @@ -40,7 +40,7 @@ class Bag: self.robot_nb_switch = Switch (sensor_frame, model_bag.robot_nb_switch, 'Nb robots') self.robot = Robot (table, model_bag.position, model_bag.cake_arm, - model_bag.cannon) + model_bag.cannon, model_bag.gifts_arm) self.distance_sensor = [DistanceSensorUS (self.robot, ds) for ds in model_bag.distance_sensor] self.cake_front = DistanceSensor (self.robot, model_bag.cake_front) diff --git a/host/simu/robots/apbirthday/view/robot.py b/host/simu/robots/apbirthday/view/robot.py index 9675aff5..f473a341 100644 --- a/host/simu/robots/apbirthday/view/robot.py +++ b/host/simu/robots/apbirthday/view/robot.py @@ -24,6 +24,7 @@ """APBirthday robot view.""" import simu.inter.drawable from simu.view.table_eurobot2013 import PINK, colors +import math COLOR_ROBOT = '#000000' COLOR_AXES = '#202040' @@ -31,7 +32,8 @@ COLOR_CANNON = '#808080' class Robot (simu.inter.drawable.Drawable): - def __init__ (self, onto, position_model, cake_arm_model, cannon_model): + def __init__ (self, onto, position_model, cake_arm_model, cannon_model, + gifts_arm_model): """Construct and make connections.""" simu.inter.drawable.Drawable.__init__ (self, onto) self.position_model = position_model @@ -40,6 +42,8 @@ class Robot (simu.inter.drawable.Drawable): self.cake_arm_model.register (self.update) self.cannon_model = cannon_model self.cannon_model.register (self.update) + self.gifts_arm_model = gifts_arm_model + self.gifts_arm_model.register (self.update) def __position_notified (self): """Called on position modifications.""" @@ -91,6 +95,11 @@ class Robot (simu.inter.drawable.Drawable): fill = '#%02x%02x%02x' % (gray, gray, gray) self.draw_polygon ((x - 20, 140), (x - 20, e), (x + 20, e), (x + 20, 140), fill = fill) + # Draw gifts arm. + m = self.gifts_arm_model + a = math.pi + m.arm_cyl.pos * math.pi / 6 + self.draw_line ((0, -140), (0 + 108 * math.cos (a), + -140 + 108 * math.sin (a))) # Extends. simu.inter.drawable.Drawable.draw (self) -- cgit v1.2.3