# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ # # 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. # # }}} from test_simu import TestSimu, run from Tkinter import * import math class TestSimuControl (TestSimu): """Interface with extra control.""" 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 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') self.clamp_var = IntVar () self.clamp_button = Checkbutton (self.control_frame, text = 'Clamp', indicatoron = False, variable = self.clamp_var, command = self.clamp_command) self.clamp_button.pack () self.elevator_var = IntVar () self.elevator_button = Checkbutton (self.control_frame, text = 'Elevator', indicatoron = False, variable = self.elevator_var, command = self.elevator_command) self.elevator_button.pack () self.gate_var = IntVar () self.gate_button = Checkbutton (self.control_frame, text = 'Gate', indicatoron = False, variable = self.gate_var, command = self.gate_command) self.gate_button.pack () self.loader_up_button = Button (self.control_frame, text = 'Loader up', padx = 0, pady = 0, command = self.loader_up_command) self.loader_up_button.pack () self.loader_down_button = Button (self.control_frame, text = 'Loader down', padx = 0, pady = 0, command = self.loader_down_command) self.loader_down_button.pack () self.table_view.bind ('<1>', self.move) self.table_view.bind ('<3>', self.orient) def move (self, ev): pos = self.table_view.screen_coord ((ev.x, ev.y)) self.asserv.goto (pos[0], pos[1]) 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 clamp_command (self): if self.clamp_var.get (): self.mimot.clamp ('a0', 0x60, 0x100) self.mimot.clamp ('a1', 0x60, 0x100) else: self.mimot.goto_pos ('a0', 0) self.mimot.goto_pos ('a1', 0) def elevator_command (self): if self.elevator_var.get (): pos = 7089 else: pos = 0 self.asserv.goto_pos ('a0', pos) def gate_command (self): if self.gate_var.get (): pos = -0x1d6b else: pos = 0 self.asserv.goto_pos ('a1', pos) def loader_up_command (self): self.io.loader ('u') def loader_down_command (self): self.io.loader ('d') if __name__ == '__main__': run ('marcel', TestSimuControl)