# 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. # # }}} """Generic servo motor.""" from simu.inter.drawable import Drawable from math import pi, sin, cos class Servo (Drawable): def __init__ (self, onto, model, coord = (0, 0), l = 1, start = 0, extent = pi / 2): Drawable.__init__ (self, onto) self.model = model self.coord = coord self.l = l self.start = start self.extent = extent self.model.register (self.__notified) def __notified (self): self.value = self.model.value self.update () def draw (self): self.reset () if self.value is not None: self.draw_arc (self.coord, self.l, start = self.start, extent = self.extent, style = 'arc', outline = '#808080') a = self.start + self.value * self.extent self.draw_line (self.coord, (self.coord[0] + self.l * cos (a), self.coord[1] + self.l * sin (a))) Drawable.draw (self)