# simu - Robot simulation. {{{ # # Copyright (C) 2013 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. # # }}} """APBirthday bag of models.""" from simu.model.switch import Switch from simu.model.position import Position from simu.model.round_obstacle import RoundObstacle from simu.model.distance_sensor_trig import DistanceSensorTrig from simu.model.distance_sensor_sensopart import DistanceSensorSensopart from simu.model.pneumatic_cylinder import PneumaticCylinder from simu.robots.apbirthday.model.cake_arm import CakeArm from simu.robots.apbirthday.model.cannon import Cannon from simu.robots.apbirthday.model.gifts_arm import GiftsArm from math import pi import random class Bag: def __init__ (self, scheduler, table, link_bag): self.table = table self.color_switch = Switch (link_bag.ihm_color, invert = True) self.color_switch.state = random.choice ((False, True)) self.color_switch.notify () self.jack = Switch (link_bag.raw_jack, invert = True) self.strat_switch = Switch (link_bag.ihm_strat, invert = True) self.robot_nb_switch = Switch (link_bag.ihm_robot_nb, invert = True) self.beacon = RoundObstacle (40, 5) table.obstacles.append (self.beacon) self.position = Position (link_bag.asserv.position, [ self.beacon ]) usdist_f = 2040. / 3300 self.distance_sensor = [ DistanceSensorSensopart (link_bag.adc_dist[0], scheduler, table, (102, 84), 0, (self.position, ), 4, factor = usdist_f), DistanceSensorSensopart (link_bag.adc_dist[1], scheduler, table, (102, -84), 0, (self.position, ), 4, factor = usdist_f), DistanceSensorSensopart (link_bag.adc_dist[2], scheduler, table, (-78, 104), pi, (self.position, ), 4, factor = usdist_f), DistanceSensorSensopart (link_bag.adc_dist[3], scheduler, table, (-83, -120), pi, (self.position, ), 4, factor = usdist_f), ] self.cake_front = DistanceSensorTrig (link_bag.adc_cake_front, scheduler, table, (80, 136), pi / 2, (self.position, ), 0) self.cake_back = DistanceSensorTrig (link_bag.adc_cake_back, scheduler, table, (-66, 139), pi / 2, (self.position, ), 0) self.cake_arm = CakeArm (table, self.position, PneumaticCylinder ( link_bag.cake_arm_in, link_bag.cake_arm_out, scheduler, 0., 1., 2.5, 2.5, 1.), PneumaticCylinder ( link_bag.cake_push_far_in, link_bag.cake_push_far_out, scheduler, 0., 1., 10., 10., 0.), PneumaticCylinder ( link_bag.cake_push_near_in, link_bag.cake_push_near_out, scheduler, 0., 1., 10., 10., 0.), link_bag.cake_arm_out_contact, link_bag.cake_arm_in_contact) self.cannon = Cannon (table, self.position, PneumaticCylinder ( link_bag.cherry_plate_up, link_bag.cherry_plate_down, scheduler, 0., 1., 2.5, 2.5, 1.), PneumaticCylinder (None, link_bag.cherry_plate_clamp, scheduler, 0., 1., 10., 10., 0.), (Switch (link_bag.cherry_plate_left_contact), Switch (link_bag.cherry_plate_right_contact)), link_bag.io_hub.potentiometer) self.gifts_arm = GiftsArm (table, self.position, PneumaticCylinder ( link_bag.gift_in, link_bag.gift_out, scheduler, 0., 1., 10., 10., 0.)) self.path = link_bag.io_hub.path self.pos_report = link_bag.io_hub.pos_report