From eb2c866a65980de8c7447a72d91d9dea7d36ffbf Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 5 May 2009 08:27:34 +0200 Subject: * host/simu: - added elevator doors. --- host/simu/model/motor_basic.py | 75 +++++++++++++++++++++++++++++++ host/simu/robots/aquajim/model/bag.py | 6 ++- host/simu/robots/aquajim/model/sorter.py | 4 +- host/simu/robots/aquajim/view/elevator.py | 19 +++++++- 4 files changed, 101 insertions(+), 3 deletions(-) create mode 100644 host/simu/model/motor_basic.py (limited to 'host') diff --git a/host/simu/model/motor_basic.py b/host/simu/model/motor_basic.py new file mode 100644 index 00000000..e22a72c2 --- /dev/null +++ b/host/simu/model/motor_basic.py @@ -0,0 +1,75 @@ +# 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. +# +# }}} +"""Very basic motor model.""" +from utils.observable import Observable + +class MotorBasic (Observable): + + def __init__ (self, link, scheduler, + speed, min_stop = None, max_stop = None): + """Motor parameters: + - speed: rad/s for a 1.0 value. + - min_stop, max_stop: rad, mechanical stops.""" + Observable.__init__ (self) + self.scheduler = scheduler + self.speed = speed + self.min_stop = min_stop + self.max_stop = max_stop + self.angle = 0 + self.link = link + self.link.register (self.__notified) + self.value = None + self.last_update = self.scheduler.date + self.__notified () + self.__timed_update () + + def __notified (self): + # Update angle. + self.__update () + # Update value. + self.value = self.link.value + self.notify () + + def __timed_update (self): + # Update angle, reset limit. + self.limit = False + self.__update () + self.notify () + # Restart timer. + self.scheduler.schedule (self.scheduler.date + + int (self.scheduler.tick * 0.1), self.__timed_update) + + def __update (self): + delta_t = (float (self.scheduler.date - self.last_update) / + self.scheduler.tick) + v = self.value or 0 + self.angle += v * self.speed * delta_t + self.last_update = self.scheduler.date + if self.angle < self.min_stop: + self.angle = self.min_stop + self.limit = True + elif self.angle > self.max_stop: + self.angle = self.max_stop + self.limit = True + diff --git a/host/simu/robots/aquajim/model/bag.py b/host/simu/robots/aquajim/model/bag.py index d8231e6b..6cbc52ef 100644 --- a/host/simu/robots/aquajim/model/bag.py +++ b/host/simu/robots/aquajim/model/bag.py @@ -24,6 +24,7 @@ """AquaJim bag of models.""" from simu.model.switch import Switch from simu.model.position import Position +from simu.model.motor_basic import MotorBasic from simu.model.distance_sensor_sharps import DistanceSensorSharps from simu.robots.aquajim.model.sorter import Sorter from math import pi @@ -34,8 +35,11 @@ class 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.elevator_door = MotorBasic (link_bag.io.pwm[0], scheduler, + 2 * pi, 0, pi / 2) self.sorter = Sorter (table, link_bag.asserv.aux[0], - link_bag.asserv.aux[1], link_bag.io.servo[0:2]) + link_bag.asserv.aux[1], link_bag.io.servo[0:2], + self.elevator_door) self.distance_sensor = [ DistanceSensorSharps (link_bag.io.adc[0], scheduler, table, (150, 150), 0, (self.position, )), diff --git a/host/simu/robots/aquajim/model/sorter.py b/host/simu/robots/aquajim/model/sorter.py index 56f1fc3e..5c4a013f 100644 --- a/host/simu/robots/aquajim/model/sorter.py +++ b/host/simu/robots/aquajim/model/sorter.py @@ -27,7 +27,8 @@ from math import pi class Sorter (Observable): - def __init__ (self, table, arm_motor_link, elevator_motor_link, servo_links): + def __init__ (self, table, arm_motor_link, elevator_motor_link, + servo_links, elevator_door_model): Observable.__init__ (self) self.table = table self.arm_motor_link = arm_motor_link @@ -37,6 +38,7 @@ class Sorter (Observable): self.elevator_motor_link.register (self.__elevator_motor_notified) self.__elevator_motor_notified () self.servo_links = servo_links + self.elevator_door = elevator_door_model def __arm_motor_notified (self): self.arm_angle = self.arm_motor_link.angle diff --git a/host/simu/robots/aquajim/view/elevator.py b/host/simu/robots/aquajim/view/elevator.py index 61c87e55..8c83ac5e 100644 --- a/host/simu/robots/aquajim/view/elevator.py +++ b/host/simu/robots/aquajim/view/elevator.py @@ -26,7 +26,7 @@ from simu.inter.drawable import Drawable class Elevator (Drawable): - width = 320 / 1.5 + width = 320 / 1.2 height = 320 def __init__ (self, onto, model): @@ -34,11 +34,24 @@ class Elevator (Drawable): self.model = model self.model.register (self.__notified) self.__notified () + self.door_model = model.elevator_door + self.door_model.register (self.__door_notified) + self.__door_notified () def __notified (self): self.height = self.model.elevator_height self.update () + def __door_notified (self): + m = self.door_model + if m.angle is None: + self.door_value = None + self.door_limit = None + else: + self.door_value = m.angle / (m.max_stop - m.min_stop) - m.min_stop + self.door_limit = self.door_model.limit + self.update () + def draw (self): self.reset () self.trans_translate ((-35, -150)) @@ -46,4 +59,8 @@ class Elevator (Drawable): if self.height is not None: self.trans_translate ((0, self.height)) self.draw_line ((0, 150), (0, 0), (70, 0)) + if self.door_value is not None: + self.trans_translate ((5 + self.door_value * 70, 0)) + self.draw_line ((0, 120), (0, 0), + fill = self.door_limit and 'red' or 'black') -- cgit v1.2.3