From 35d0598da33712d7361be4ae3d2de472df6b645b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 13 Apr 2012 21:52:01 +0200 Subject: host/simu/robots: add beacon on robots This is used for match with two robots. --- host/simu/robots/guybrush/model/bag.py | 19 ++++++++++++++----- host/simu/robots/marcel/model/bag.py | 19 ++++++++++++++----- host/simu/robots/robospierre/model/bag.py | 19 ++++++++++++++----- 3 files changed, 42 insertions(+), 15 deletions(-) (limited to 'host') diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py index 6eeddeee..2e751426 100644 --- a/host/simu/robots/guybrush/model/bag.py +++ b/host/simu/robots/guybrush/model/bag.py @@ -24,6 +24,7 @@ """Guybrush bag of models.""" from simu.model.switch import Switch from simu.model.position import Position +from simu.model.round_obstacle import RoundObstacle from simu.model.distance_sensor_sensopart import DistanceSensorSensopart from simu.model.pneumatic_cylinder import PneumaticCylinder from simu.robots.guybrush.model.clamps import Clamps @@ -38,7 +39,9 @@ class Bag: self.color_switch.notify () 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.beacon = RoundObstacle (40, 5) + table.obstacles.append (self.beacon) + self.position = Position (link_bag.asserv.position, [ self.beacon ]) output = link_bag.io_hub.output self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0], (PneumaticCylinder (None, output[8], scheduler, @@ -52,15 +55,21 @@ class Bag: 0., 1., 1., 1., 0.), PneumaticCylinder (None, output[1], scheduler, 0., 30., 150., 75., 30.)) + def distance_sensor_exclude (o): + return o is self.beacon self.distance_sensor = [ DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table, - (20, 20), pi * 10 / 180, (self.position, ), 5), + (20, 20), pi * 10 / 180, (self.position, ), 5, + distance_sensor_exclude), DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table, - (20, -20), -pi * 10 / 180, (self.position, ), 5), + (20, -20), -pi * 10 / 180, (self.position, ), 5, + distance_sensor_exclude), DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table, - (-20, -20), pi + pi * 10 / 180, (self.position, ), 5), + (-20, -20), pi + pi * 10 / 180, (self.position, ), 5, + distance_sensor_exclude), DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table, - (-20, 20), pi - pi * 10 / 180, (self.position, ), 5), + (-20, 20), pi - pi * 10 / 180, (self.position, ), 5, + distance_sensor_exclude), ] self.path = link_bag.io_hub.path self.pos_report = link_bag.io_hub.pos_report diff --git a/host/simu/robots/marcel/model/bag.py b/host/simu/robots/marcel/model/bag.py index 0f51b2ba..67cc0359 100644 --- a/host/simu/robots/marcel/model/bag.py +++ b/host/simu/robots/marcel/model/bag.py @@ -25,6 +25,7 @@ from simu.model.switch import Switch from simu.model.position import Position from simu.robots.marcel.model.loader import Loader +from simu.model.round_obstacle import RoundObstacle from simu.model.distance_sensor_sensopart import DistanceSensorSensopart from math import pi @@ -34,19 +35,27 @@ class 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.beacon = RoundObstacle (40, 5) + table.obstacles.append (self.beacon) + self.position = Position (link_bag.asserv.position, [ self.beacon ]) self.loader = Loader (table, self.position, link_bag.mimot.aux[0], link_bag.mimot.aux[1], link_bag.asserv.aux[0], link_bag.asserv.aux[1], link_bag.io.contact[0:2]) + def distance_sensor_exclude (o): + return o is self.beacon self.distance_sensor = [ DistanceSensorSensopart (link_bag.io.adc[0], scheduler, table, - (30 - 20, 0), 0, (self.position, ), 5), + (30 - 20, 0), 0, (self.position, ), 5, + distance_sensor_exclude), DistanceSensorSensopart (link_bag.io.adc[1], scheduler, table, - (20 - 20, 20), pi * 30 / 180, (self.position, ), 5), + (20 - 20, 20), pi * 30 / 180, (self.position, ), 5, + distance_sensor_exclude), DistanceSensorSensopart (link_bag.io.adc[2], scheduler, table, - (20 - 20, -20), -pi * 30 / 180, (self.position, ), 5), + (20 - 20, -20), -pi * 30 / 180, (self.position, ), 5, + distance_sensor_exclude), DistanceSensorSensopart (link_bag.io.adc[3], scheduler, table, - (-30 - 20, 0), pi, (self.position, ), 5), + (-30 - 20, 0), pi, (self.position, ), 5, + distance_sensor_exclude), ] link_bag.io.adc[4].value = 0 link_bag.io.adc[5].value = 0 diff --git a/host/simu/robots/robospierre/model/bag.py b/host/simu/robots/robospierre/model/bag.py index d25a4668..f95f48ef 100644 --- a/host/simu/robots/robospierre/model/bag.py +++ b/host/simu/robots/robospierre/model/bag.py @@ -24,6 +24,7 @@ """Robospierre bag of models.""" from simu.model.switch import Switch from simu.model.position import Position +from simu.model.round_obstacle import RoundObstacle from simu.model.motor_basic import MotorBasic from simu.model.distance_sensor_sensopart import DistanceSensorSensopart from simu.robots.robospierre.model.clamp import Clamp @@ -40,7 +41,9 @@ class Bag: self.strat_switch = Switch (link_bag.io_hub.contact[9], invert = True) self.contact = [ Switch (contact) for contact in link_bag.io_hub.contact[2:9] ] - self.position = Position (link_bag.asserv.position) + self.beacon = RoundObstacle (40, 5) + table.obstacles.append (self.beacon) + self.position = Position (link_bag.asserv.position, [ self.beacon ]) self.clamping_motor = MotorBasic (link_bag.io_hub.pwm[2], scheduler, 8 * pi, 0, pi) self.door_motors = [ MotorBasic (link_bag.io_hub.pwm[i], scheduler, @@ -48,15 +51,21 @@ class Bag: self.clamp = Clamp (table, self.position, link_bag.mimot.aux[0], link_bag.mimot.aux[1], self.clamping_motor, self.door_motors, self.contact[0:7], link_bag.io_hub.codebar) + def distance_sensor_exclude (o): + return o is self.beacon self.distance_sensor = [ DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table, - (20, 20), pi * 10 / 180, (self.position, ), 5), + (20, 20), pi * 10 / 180, (self.position, ), 5, + distance_sensor_exclude), DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table, - (20, -20), -pi * 10 / 180, (self.position, ), 5), + (20, -20), -pi * 10 / 180, (self.position, ), 5, + distance_sensor_exclude), DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table, - (-20, -20), pi + pi * 10 / 180, (self.position, ), 5), + (-20, -20), pi + pi * 10 / 180, (self.position, ), 5, + distance_sensor_exclude), DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table, - (-20, 20), pi - pi * 10 / 180, (self.position, ), 5), + (-20, 20), pi - pi * 10 / 180, (self.position, ), 5, + distance_sensor_exclude), ] self.path = link_bag.io_hub.path self.pos_report = link_bag.io_hub.pos_report -- cgit v1.2.3