From 346abb99346ae7b94d0b2a49cc32f0363aed6018 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 3 May 2009 00:19:46 +0200 Subject: * host/simu: - added AquaJim. --- host/simu/robots/aquajim/__init__.py | 0 host/simu/robots/aquajim/link/__init__.py | 0 host/simu/robots/aquajim/link/bag.py | 33 +++++++++++++++ host/simu/robots/aquajim/model/__init__.py | 0 host/simu/robots/aquajim/model/bag.py | 52 ++++++++++++++++++++++++ host/simu/robots/aquajim/model/sorter.py | 51 ++++++++++++++++++++++++ host/simu/robots/aquajim/view/__init__.py | 0 host/simu/robots/aquajim/view/arm.py | 59 +++++++++++++++++++++++++++ host/simu/robots/aquajim/view/bag.py | 46 +++++++++++++++++++++ host/simu/robots/aquajim/view/elevator.py | 49 +++++++++++++++++++++++ host/simu/robots/aquajim/view/robot.py | 64 ++++++++++++++++++++++++++++++ 11 files changed, 354 insertions(+) create mode 100644 host/simu/robots/aquajim/__init__.py create mode 100644 host/simu/robots/aquajim/link/__init__.py create mode 100644 host/simu/robots/aquajim/link/bag.py create mode 100644 host/simu/robots/aquajim/model/__init__.py create mode 100644 host/simu/robots/aquajim/model/bag.py create mode 100644 host/simu/robots/aquajim/model/sorter.py create mode 100644 host/simu/robots/aquajim/view/__init__.py create mode 100644 host/simu/robots/aquajim/view/arm.py create mode 100644 host/simu/robots/aquajim/view/bag.py create mode 100644 host/simu/robots/aquajim/view/elevator.py create mode 100644 host/simu/robots/aquajim/view/robot.py (limited to 'host') diff --git a/host/simu/robots/aquajim/__init__.py b/host/simu/robots/aquajim/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/aquajim/link/__init__.py b/host/simu/robots/aquajim/link/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/aquajim/link/bag.py b/host/simu/robots/aquajim/link/bag.py new file mode 100644 index 00000000..3cb9e1b2 --- /dev/null +++ b/host/simu/robots/aquajim/link/bag.py @@ -0,0 +1,33 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2009 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. +# +# }}} +"""AquaJim bag of links.""" +import io.mex +import asserv.mex + +class Bag: + + def __init__ (self, node): + self.asserv = asserv.mex.Mex (node) + self.io = io.mex.Mex (node) + diff --git a/host/simu/robots/aquajim/model/__init__.py b/host/simu/robots/aquajim/model/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/aquajim/model/bag.py b/host/simu/robots/aquajim/model/bag.py new file mode 100644 index 00000000..d8231e6b --- /dev/null +++ b/host/simu/robots/aquajim/model/bag.py @@ -0,0 +1,52 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2009 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. +# +# }}} +"""AquaJim bag of models.""" +from simu.model.switch import Switch +from simu.model.position import Position +from simu.model.distance_sensor_sharps import DistanceSensorSharps +from simu.robots.aquajim.model.sorter import Sorter +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.position = Position (link_bag.asserv.position) + self.sorter = Sorter (table, link_bag.asserv.aux[0], + link_bag.asserv.aux[1], link_bag.io.servo[0:2]) + self.distance_sensor = [ + DistanceSensorSharps (link_bag.io.adc[0], scheduler, table, + (150, 150), 0, (self.position, )), + DistanceSensorSharps (link_bag.io.adc[1], scheduler, table, + (150, 0), 0, (self.position, )), + DistanceSensorSharps (link_bag.io.adc[2], scheduler, table, + (150, -150), 0, (self.position, )), + DistanceSensorSharps (link_bag.io.adc[3], scheduler, table, + (-150, 100), pi, (self.position, )), + DistanceSensorSharps (link_bag.io.adc[4], scheduler, table, + (-150, -100), pi, (self.position, )), + ] + self.path = link_bag.io.path + diff --git a/host/simu/robots/aquajim/model/sorter.py b/host/simu/robots/aquajim/model/sorter.py new file mode 100644 index 00000000..56f1fc3e --- /dev/null +++ b/host/simu/robots/aquajim/model/sorter.py @@ -0,0 +1,51 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2009 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. +# +# }}} +"""AquaJim pucks sorter.""" +from utils.observable import Observable +from math import pi + +class Sorter (Observable): + + def __init__ (self, table, arm_motor_link, elevator_motor_link, servo_links): + Observable.__init__ (self) + self.table = table + self.arm_motor_link = arm_motor_link + self.arm_motor_link.register (self.__arm_motor_notified) + self.__arm_motor_notified () + self.elevator_motor_link = elevator_motor_link + self.elevator_motor_link.register (self.__elevator_motor_notified) + self.__elevator_motor_notified () + self.servo_links = servo_links + + def __arm_motor_notified (self): + self.arm_angle = self.arm_motor_link.angle + self.notify () + + def __elevator_motor_notified (self): + if self.elevator_motor_link.angle is None: + self.elevator_height = None + else: + self.elevator_height = 150 - self.elevator_motor_link.angle * 5.5 + self.notify () + diff --git a/host/simu/robots/aquajim/view/__init__.py b/host/simu/robots/aquajim/view/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/aquajim/view/arm.py b/host/simu/robots/aquajim/view/arm.py new file mode 100644 index 00000000..ee8aaa95 --- /dev/null +++ b/host/simu/robots/aquajim/view/arm.py @@ -0,0 +1,59 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2009 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. +# +# }}} +"""AquaJim arm.""" +from simu.inter.drawable import Drawable +from math import pi, cos, sin + +class Arm (Drawable): + + width = 1 + height = 1 + + def __init__ (self, onto, model): + Drawable.__init__ (self, onto) + self.model = model + self.model.register (self.__notified) + self.__notified () + + def __notified (self): + self.angle = self.model.arm_angle + self.update () + + def draw (self): + self.reset () + self.draw_arc ((0, 0), 0.45, start = 7 * pi / 12, extent = 10 * pi / 12, + style = 'arc', outline = '#808080') + self.draw_arc ((0, 0), 0.45, start = -5 * pi / 12, extent = 10 * pi / 12, + style = 'arc', outline = '#808080') + self.draw_arc ((0, 0), 0.25, start = -7 * pi / 12, extent = 14 * pi / 12, + style = 'arc', outline = '#808080') + if self.angle is not None: + self.trans_scale (0.4) + self.trans_rotate (-self.angle) + self.draw_line ((0, 0), (0, 1)) + self.draw_line ((0, 1), (0.3, 1), arrow = 'last', fill = '#808080') + self.draw_line ((0, 0), (cos (pi / 6), -sin (pi / 6))) + self.draw_line ((0, 0), (-cos (pi / 6), -sin (pi / 6))) + Drawable.draw (self) + diff --git a/host/simu/robots/aquajim/view/bag.py b/host/simu/robots/aquajim/view/bag.py new file mode 100644 index 00000000..c617f381 --- /dev/null +++ b/host/simu/robots/aquajim/view/bag.py @@ -0,0 +1,46 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2009 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. +# +# }}} +"""AquaJim bag of views.""" +from simu.view.switch import Switch +from simu.view.distance_sensor import DistanceSensor +from simu.view.path import Path +from simu.robots.aquajim.view.robot import Robot +from simu.robots.aquajim.view.arm import Arm +from simu.robots.aquajim.view.elevator import Elevator + +class Bag: + + def __init__ (self, table, actuator_view, sensor_frame, model_bag): + self.jack = Switch (sensor_frame, model_bag.jack, 'Jack') + self.color_switch = Switch (sensor_frame, model_bag.color_switch, + 'Color') + self.robot = Robot (table, model_bag.position) + self.arm = Arm (actuator_view.add_view (Arm.width, Arm.height), + model_bag.sorter) + self.elevator = Elevator (actuator_view.add_view (Elevator.width, + Elevator.height), model_bag.sorter) + self.distance_sensor = [DistanceSensor (self.robot, ds) + for ds in model_bag.distance_sensor] + self.path = Path (table, model_bag.path) + diff --git a/host/simu/robots/aquajim/view/elevator.py b/host/simu/robots/aquajim/view/elevator.py new file mode 100644 index 00000000..61c87e55 --- /dev/null +++ b/host/simu/robots/aquajim/view/elevator.py @@ -0,0 +1,49 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2009 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. +# +# }}} +"""AquaJim elevator.""" +from simu.inter.drawable import Drawable + +class Elevator (Drawable): + + width = 320 / 1.5 + height = 320 + + def __init__ (self, onto, model): + Drawable.__init__ (self, onto) + self.model = model + self.model.register (self.__notified) + self.__notified () + + def __notified (self): + self.height = self.model.elevator_height + self.update () + + def draw (self): + self.reset () + self.trans_translate ((-35, -150)) + self.draw_line ((-10, 300), (-10, 0), (70, 0), fill = '#808080') + if self.height is not None: + self.trans_translate ((0, self.height)) + self.draw_line ((0, 150), (0, 0), (70, 0)) + diff --git a/host/simu/robots/aquajim/view/robot.py b/host/simu/robots/aquajim/view/robot.py new file mode 100644 index 00000000..8974b179 --- /dev/null +++ b/host/simu/robots/aquajim/view/robot.py @@ -0,0 +1,64 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2008 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. +# +# }}} +"""AquaJim robot view.""" +import simu.inter.drawable + +class Robot (simu.inter.drawable.Drawable): + + def __init__ (self, onto, position_model): + """Construct and make connections.""" + simu.inter.drawable.Drawable.__init__ (self, onto) + self.position_model = position_model + self.position_model.register (self.__position_notified) + self.__position_notified () + + def __position_notified (self): + """Called on position modifications.""" + self.pos = self.position_model.pos + self.angle = self.position_model.angle + self.update () + + def draw (self): + """Draw the robot.""" + self.reset () + if self.pos is not None: + self.trans_rotate (self.angle) + self.trans_translate (self.pos) + # Draw robot body. + # TODO + self.draw_polygon ((150, 150), (150, -150), (-150, -150), + (-150, 150), (150, 150)) + # Draw Robot axis. + axes_fill = '#404040' + self.draw_line ((-150, 0), (150, 0), fill = axes_fill, + arrow = 'last') + # Draw Robot wheels. + f = 150 # Wheel spacing + wr = 63 / 2 # Wheel diameter + self.draw_line ((0, +f / 2), (0, -f / 2), fill = axes_fill) + self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = axes_fill) + self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = axes_fill) + # Extends. + simu.inter.drawable.Drawable.draw (self) + -- cgit v1.2.3