# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ # # Copyright (C) 2012 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. # # }}} from test_simu import TestSimu, run from Tkinter import * import math import simu.robots.guybrush.model.bag defs = simu.robots.guybrush.model.bag.Bag class TestSimuControl (TestSimu): """Interface with extra control.""" LOWER_CLAMP_ROTATION_STROKE = int (16 * 250) def __init__ (self, robot_class, *args): TestSimu.__init__ (self, robot_class, *args, color_switch_set_pos = True) self.io = self.robots[0].io self.asserv = self.robots[0].asserv self.mimot = self.robots[0].mimot self.robot_model = self.robots[0].model self.io.output (1 << defs.OUTPUT_UPPER_CLAMP_UP, 'toggle') self.io.output (1 << defs.OUTPUT_UPPER_CLAMP_IN, 'toggle') self.io.output (1 << defs.OUTPUT_DOOR_CLOSE, 'toggle') def create_widgets (self): TestSimu.create_widgets (self) self.control_frame = Frame (self) self.control_frame.pack (side = 'left', before = self.table_view, fill = 'y') Button (self.control_frame, text = 'FSM step', padx = 0, pady = 0, command = self.fsm_debug).pack () Button (self.control_frame, text = 'Asserv block', padx = 0, pady = 0, command = self.asserv_block).pack () Button (self.control_frame, text = 'Clamp block', padx = 0, pady = 0, command = self.clamp_block).pack () def out_button (name, toggle): def command (): self.io.output (toggle, 'toggle') button = Button (self.control_frame, text = name, padx = 0, pady = 0, command = command) button.pack () out_button ('LClamp 1 open', 1 << defs.OUTPUT_LOWER_CLAMP_1_CLOSE) out_button ('LClamp 2 open', 1 << defs.OUTPUT_LOWER_CLAMP_2_CLOSE) self.lower_clamp_rotate_button = Button (self.control_frame, text = 'LClamp rotate', padx = 0, pady = 0, command = self.lower_clamp_rotate_command) self.lower_clamp_rotate_button.pack () out_button ('UClamp up/down', 1 << defs.OUTPUT_UPPER_CLAMP_UP | 1 << defs.OUTPUT_UPPER_CLAMP_DOWN) out_button ('UClamp in/out', 1 << defs.OUTPUT_UPPER_CLAMP_IN | 1 << defs.OUTPUT_UPPER_CLAMP_OUT) out_button ('UClamp open', 1 << defs.OUTPUT_UPPER_CLAMP_OPEN) out_button ('Door open', 1 << defs.OUTPUT_DOOR_OPEN | 1 << defs.OUTPUT_DOOR_CLOSE) self.tree_detected_button = Button (self.control_frame, text = 'Tree Detected', padx = 0, pady = 0, command = self.tree_detected) self.tree_detected_button.pack() self.stop_tree_approach_button = Button (self.control_frame, text = 'Stop tree approach', padx = 0, pady = 0, command = self.stop_tree_approach) self.stop_tree_approach_button.pack() self.empty_tree_button = Button (self.control_frame, text = 'Empty Tree', padx = 0, pady = 0, command = self.empty_tree) self.empty_tree_button.pack() self.robot_is_back_button = Button (self.control_frame, text = 'Robot is back', padx = 0, pady = 0, command = self.robot_is_back) self.robot_is_back_button.pack() self.unblock_button = Button (self.control_frame, text = 'unblock bottom clamp', padx = 0, pady = 0, command = self.unblock_bottom_clamp) self.unblock_button.pack() self.backward_var = IntVar () self.backward_button = Checkbutton (self.control_frame, text = 'Backward', variable = self.backward_var) self.backward_button.pack () self.goto_var = IntVar () self.goto_button = Checkbutton (self.control_frame, text = 'Goto FSM', variable = self.goto_var) self.goto_button.pack () self.table_view.bind ('<1>', self.move) self.table_view.bind ('<3>', self.orient) def fsm_debug (self): self.io.fsm_debug () def asserv_block (self): self.asserv.block () def clamp_block (self): self.mimot.block ('a0') def move (self, ev): pos = self.table_view.screen_coord ((ev.x, ev.y)) if self.goto_var.get (): self.io.goto (pos[0], pos[1], self.backward_var.get ()) else: self.asserv.goto (pos[0], pos[1], self.backward_var.get ()) def orient (self, ev): x, y = self.table_view.screen_coord ((ev.x, ev.y)) robot_pos = self.robot_model.position.pos if robot_pos is not None: a = math.atan2 (y - robot_pos[1], x - robot_pos[0]) self.asserv.goto_angle (a) def lower_clamp_rotate_command (self): self.mimot.speed_pos ('a0', self.LOWER_CLAMP_ROTATION_STROKE / 2) def tree_detected(self): self.io.tree_detected() def stop_tree_approach(self): self.io.stop_tree_approach() def empty_tree(self): self.io.empty_tree() def robot_is_back(self): self.io.robot_is_back() def unblock_bottom_clamp(self): self.io.unblock_bottom_clamp() if __name__ == '__main__': run ('guybrush', TestSimuControl)