# 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. # # }}} """AquaJim bag of models.""" from simu.model.switch import Switch from simu.model.position import Position from simu.model.motor_basic import MotorBasic from simu.model.distance_sensor_sharps import DistanceSensorSharps from simu.robots.aquajim.model.sorter import Sorter from math import pi class Bag: def __init__ (self, scheduler, table, link_bag): self.jack = Switch (link_bag.io.jack) self.color_switch = Switch (link_bag.io.color_switch) self.contact = [ Switch (contact) for contact in link_bag.io.contact ] self.position = Position (link_bag.asserv.position) self.elevator_door = MotorBasic (link_bag.io.pwm[0], scheduler, 2 * pi, 0, pi / 2) self.sorter = Sorter (table, link_bag.asserv.aux[0], link_bag.io.contact[2], link_bag.io.servo[0:2], link_bag.io.contact[0], link_bag.asserv.aux[1], self.elevator_door, link_bag.io.contact[1], (self.position,)) self.distance_sensor = [ DistanceSensorSharps (link_bag.io.adc[0], scheduler, table, (50, 130), 0, (self.position, ), 4), DistanceSensorSharps (link_bag.io.adc[1], scheduler, table, (50, -130), 0, (self.position, ), 4), DistanceSensorSharps (link_bag.io.adc[2], scheduler, table, (50, 0), 0, (self.position, ), 4), DistanceSensorSharps (link_bag.io.adc[3], scheduler, table, (0, 130), pi, (self.position, ), 4), DistanceSensorSharps (link_bag.io.adc[4], scheduler, table, (0, -130), pi, (self.position, ), 4), ] self.path = link_bag.io.path