# 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.value = None self.last_update = self.scheduler.date self.link.register (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