# 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 arm.""" from simu.inter.drawable import Drawable from math import pi, cos, sin from simu.view.table_eurobot2009 import puck_attr class Arm (Drawable): width = 320 height = 320 def __init__ (self, onto, model): Drawable.__init__ (self, onto) self.model = model self.model.register (self.__notified) def __notified (self): self.angle = self.model.arm_angle self.update () def draw (self): self.reset () self.draw_arc ((0, 0), 150, start = 7 * pi / 12, extent = 10 * pi / 12, style = 'arc', outline = '#808080') self.draw_arc ((0, 0), 150, start = -5 * pi / 12, extent = 10 * pi / 12, style = 'arc', outline = '#808080') self.draw_arc ((0, 0), 100, start = -7 * pi / 12, extent = 14 * pi / 12, style = 'arc', outline = '#808080') if self.angle is not None: self.trans_rotate (-self.angle) for i in range (3): self.draw_line ((0, 0), (0, 135)) self.draw_arc ((0, 0), 135, start = pi / 2, extent = pi / 3, style = 'arc') if i == 0: self.draw_line ((0, 135), (70, 135), arrow = 'last', fill = '#808080') a = -2 * pi / 3 self.trans_rotate (0.15 * a) puck = self.model.arm_slot[i] if puck is not None: self.draw_rectangle ((-35, 140), (35, 110), **puck_attr[puck.color]) self.trans_rotate ((1 - 0.15) * a)