From e1461c339607f82433bd60910ac4dfe5ff051219 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 7 Apr 2013 01:50:01 +0200 Subject: host/simu: add cake sensor simulation --- host/simu/model/distance_sensor_trig.py | 65 ++++++++++++++++++++++++++++++++ host/simu/model/table_eurobot2013.py | 3 ++ host/simu/robots/apbirthday/model/bag.py | 5 +++ host/simu/robots/apbirthday/view/bag.py | 3 ++ 4 files changed, 76 insertions(+) create mode 100644 host/simu/model/distance_sensor_trig.py (limited to 'host/simu') diff --git a/host/simu/model/distance_sensor_trig.py b/host/simu/model/distance_sensor_trig.py new file mode 100644 index 00000000..7d22ebab --- /dev/null +++ b/host/simu/model/distance_sensor_trig.py @@ -0,0 +1,65 @@ +# 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. +# +# }}} +"""Sensopart FT20RA.""" +from utils.observable import Observable +from simu.model.distance_sensor import DistanceSensor + +class DistanceSensorTrig (Observable, DistanceSensor): + + RANGE = 100 + + def __init__ (self, link, scheduler, table, pos, angle, into = None, + level = 0, exclude = None, factor = 1): + Observable.__init__ (self) + DistanceSensor.__init__ (self, table, pos, angle, self.RANGE, into, + level, exclude) + self.factor = factor + self.link = link + self.scheduler = scheduler + self.value = None + self.evaluate () + self.register (self.__update) + + def evaluate (self): + # Compute real distance. + DistanceSensor.evaluate (self) + # Convert to sensor voltage. + d = self.distance + if self.distance is None: + d = self.RANGE + if d < 22.5: + self.value = -0.014 * d * d + 0.41 * d + 7 + else: + self.value = -0.657 + 220.431 / d + self.value *= 0.1 * self.factor + # Update observers. + self.notify () + # Prepare next update. + self.scheduler.schedule (self.scheduler.date + + int (self.scheduler.tick * 0.03), self.evaluate) + + def __update (self): + self.link.value = self.value + self.link.notify () + diff --git a/host/simu/model/table_eurobot2013.py b/host/simu/model/table_eurobot2013.py index 5fb663f4..c0d8b27d 100644 --- a/host/simu/model/table_eurobot2013.py +++ b/host/simu/model/table_eurobot2013.py @@ -57,6 +57,8 @@ class Table (simu.model.table.Table): colors = ([ False ] + colors_r[0:3] + [ None, None, None, None ] + colors_r[3:6] + [ True ]) add_candle_circle ((1500, 2000), 450, pi + pi / 24, pi / 12, colors, 2) + cake = RoundObstacle (500, 0) + cake.pos = (1500, 2000) # Glasses. self.glasses = [ ] def add_glass (pos): @@ -108,6 +110,7 @@ class Table (simu.model.table.Table): add_gifts ((1800, 0)) add_gifts ((2400, 0)) # Add everything to obstacles. + self.obstacles.append (cake) self.obstacles += self.candles self.obstacles += self.glasses self.obstacles += self.cherries diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py index ce2c8667..2c026740 100644 --- a/host/simu/robots/apbirthday/model/bag.py +++ b/host/simu/robots/apbirthday/model/bag.py @@ -25,6 +25,7 @@ from simu.model.switch import Switch from simu.model.position import Position from simu.model.round_obstacle import RoundObstacle +from simu.model.distance_sensor_trig import DistanceSensorTrig from simu.model.distance_sensor_sensopart import DistanceSensorSensopart from simu.model.pneumatic_cylinder import PneumaticCylinder from simu.robots.apbirthday.model.cake_arm import CakeArm @@ -51,6 +52,10 @@ class Bag: DistanceSensorSensopart (link_bag.adc_dist[3], scheduler, table, (-83, -120), pi, (self.position, ), 4), ] + self.cake_front = DistanceSensorTrig (link_bag.adc_cake_front, + scheduler, table, (80, 136), pi / 2, (self.position, ), 0) + self.cake_back = DistanceSensorTrig (link_bag.adc_cake_back, + scheduler, table, (-66, 139), pi / 2, (self.position, ), 0) self.cake_arm = CakeArm (table, self.position, PneumaticCylinder ( link_bag.cake_arm_in, diff --git a/host/simu/robots/apbirthday/view/bag.py b/host/simu/robots/apbirthday/view/bag.py index a5d733e1..6a9e2d3d 100644 --- a/host/simu/robots/apbirthday/view/bag.py +++ b/host/simu/robots/apbirthday/view/bag.py @@ -23,6 +23,7 @@ # }}} """APBirthday bag of views.""" from simu.view.switch import Switch +from simu.view.distance_sensor import DistanceSensor from simu.view.distance_sensor_us import DistanceSensorUS from simu.view.pos_report import PosReport from simu.robots.apbirthday.view.robot import Robot @@ -36,5 +37,7 @@ class Bag: self.robot = Robot (table, model_bag.position, model_bag.cake_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) + self.cake_back = DistanceSensor (self.robot, model_bag.cake_back) self.pos_report = PosReport (table, model_bag.pos_report) -- cgit v1.2.3