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authorNicolas Schodet2013-03-28 23:28:13 +0100
committerNicolas Schodet2013-03-28 23:32:49 +0100
commit75cc934b072310f22c5fe349168e5e4cdc231c4c (patch)
tree4c195e983d9974458f92199e15647f01235f4856 /digital/ai/tools/test_simu_control_apbirthday.py
parent09c941cd2d30d07ef2dfe779bff2c934ce7cd718 (diff)
host/simu/robots/apbirthday: add cake arm simulation
Still need color sensors simulation.
Diffstat (limited to 'digital/ai/tools/test_simu_control_apbirthday.py')
-rw-r--r--digital/ai/tools/test_simu_control_apbirthday.py15
1 files changed, 15 insertions, 0 deletions
diff --git a/digital/ai/tools/test_simu_control_apbirthday.py b/digital/ai/tools/test_simu_control_apbirthday.py
index e60951ef..d88d5f7b 100644
--- a/digital/ai/tools/test_simu_control_apbirthday.py
+++ b/digital/ai/tools/test_simu_control_apbirthday.py
@@ -25,6 +25,8 @@ from test_simu import TestSimu, run
from Tkinter import *
import math
+import io_hub.apbirthday
+
class TestSimuControl (TestSimu):
"""Interface with extra control."""
@@ -34,6 +36,9 @@ class TestSimuControl (TestSimu):
self.io = self.robots[0].io
self.asserv = self.robots[0].asserv
self.robot_model = self.robots[0].model
+ self.io.output (io_hub.apbirthday.output_mask (
+ 'cake_arm_in', 'cake_push_far_in', 'cake_push_near_in'),
+ 'toggle')
def create_widgets (self):
TestSimu.create_widgets (self)
@@ -44,6 +49,16 @@ class TestSimuControl (TestSimu):
command = self.fsm_debug).pack ()
Button (self.control_frame, text = 'Asserv block', padx = 0, pady = 0,
command = self.asserv_block).pack ()
+ def out_button (name, *toggle):
+ def command ():
+ self.io.output (io_hub.apbirthday.output_mask (*toggle),
+ 'toggle')
+ button = Button (self.control_frame, text = name,
+ padx = 0, pady = 0, command = command)
+ button.pack ()
+ out_button ('Arm in/out', 'cake_arm_in', 'cake_arm_out')
+ out_button ('Push far in/out', 'cake_push_far_in', 'cake_push_far_out')
+ out_button ('Push near in/out', 'cake_push_near_in', 'cake_push_near_out')
self.backward_var = IntVar ()
self.backward_button = Checkbutton (self.control_frame,
text = 'Backward', variable = self.backward_var)