# 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. # # }}} from utils.observable import Observable from simu.model.distance_sensor import DistanceSensor class DistanceSensorSharps (Observable, DistanceSensor): RANGE = 800 NEAR = 70 A = 0.36 B = 177.26 def __init__ (self, link, scheduler, table, pos, angle, into = None, level = 0): Observable.__init__ (self) DistanceSensor.__init__ (self, table, pos, angle, self.RANGE, into, level) self.link = link self.scheduler = scheduler self.register (self.__update) self.evaluate () def evaluate (self): # Compute real distance. DistanceSensor.evaluate (self) # Convert to sharps voltage. d = self.distance if self.distance is None: d = self.RANGE if d < self.NEAR: self.value = d / self.NEAR * (self.A + self.B / self.NEAR) else: self.value = self.A + self.B / d # Update observers. self.notify () # Prepare next update. self.scheduler.schedule (self.scheduler.date + int (self.scheduler.tick * 0.040), self.evaluate) def __update (self): self.link.value = self.value self.link.notify ()