summaryrefslogtreecommitdiffhomepage
path: root/host/simu/robots/giboulee/model/arm.py
blob: cfefd11bc87702f7b4e7ee631e170e9e7229eac6 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
# 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.
#
# }}}
"""Giboulee arm."""
from utils.observable import Observable

class Arm (Observable):

    def __init__ (self, motor_link):
        Observable.__init__ (self)
        self.motor_link = motor_link
        self.motor_link.register (self.__motor_notified)
        self.__motor_notified ()

    def __motor_notified (self):
        self.angle = self.motor_link.angle
        self.notify ()