# asserv - Position & speed motor control 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. # # }}} """Mex interface to asserv.""" from utils.observable import Observable ID_POSITION = 0xa0 ID_PWM = 0xa1 ID_AUX = 0xa8 class Mex: """Handle communications with simulated asserv.""" class Position (Observable): """Robot position. - pos: (x, y) millimeters. - angle: radian. """ def __init__ (self, node): Observable.__init__ (self) self.pos = None self.angle = None node.register (ID_POSITION, self.__handle) def __handle (self, msg): x, y, a = msg.pop ('hhl') self.pos = (x, y) self.angle = float (a) / 1024 self.notify () class PWM (Observable): """Motor PWM. - pwm: current PWM values (hardware unit). """ def __init__ (self, node): Observable.__init__ (self) self.pwm = None node.register (ID_PWM, self.__handle) def __handle (self, msg): self.pwm = msg.pop ('hhhh') self.notify () class Aux (Observable): """Auxiliary motor angle. - angle: radian. """ def __init__ (self): Observable.__init__ (self) self.angle = None class Pack: """Handle reception of several Aux for one message.""" def __init__ (self, node, list): self.__list = list node.register (ID_AUX, self.__handle) def __handle (self, msg): angles = msg.pop ('%dl' % len (self.__list)) for aux, angle in zip (self.__list, angles): aux.angle = float (angle) / 1024 aux.notify () def __init__ (self, node): self.position = self.Position (node) self.pwm = self.PWM (node) self.aux = (self.Aux (), self.Aux ()) self.__aux_pack = self.Aux.Pack (node, self.aux)