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authorNicolas Schodet2012-04-07 18:47:31 +0200
committerNicolas Schodet2012-04-07 18:47:31 +0200
commit06037accc5049c1f55c287e582cdc6a74a4e06c6 (patch)
treecbbaec5b68d5e95592501a1d8ec76f9238ecfa89 /digital/ai
parent830caf7438e09c0834a6d1141144fdc2752aa15c (diff)
host/simu/robots/guybrush: add upper clamp simulation
Diffstat (limited to 'digital/ai')
-rw-r--r--digital/ai/tools/test_simu_control_guybrush.py28
1 files changed, 20 insertions, 8 deletions
diff --git a/digital/ai/tools/test_simu_control_guybrush.py b/digital/ai/tools/test_simu_control_guybrush.py
index 6d742e90..b9106eab 100644
--- a/digital/ai/tools/test_simu_control_guybrush.py
+++ b/digital/ai/tools/test_simu_control_guybrush.py
@@ -28,6 +28,11 @@ import math
class TestSimuControl (TestSimu):
"""Interface with extra control."""
+ UPPER_CLAMP_OPEN = 1 << 1
+ UPPER_CLAMP_OUT = 1 << 2
+ UPPER_CLAMP_IN = 1 << 3
+ UPPER_CLAMP_DOWN = 1 << 4
+ UPPER_CLAMP_UP = 1 << 5
LOWER_CLAMP_1_OPEN = 1 << 8
LOWER_CLAMP_2_OPEN = 1 << 9
LOWER_CLAMP_ROTATION_STROKE = int (16 * 250)
@@ -39,24 +44,31 @@ class TestSimuControl (TestSimu):
self.asserv = self.robots[0].asserv
self.mimot = self.robots[0].mimot
self.robot_model = self.robots[0].model
+ self.io.output (self.UPPER_CLAMP_UP, 'toggle')
+ self.io.output (self.UPPER_CLAMP_IN, 'toggle')
def create_widgets (self):
TestSimu.create_widgets (self)
self.control_frame = Frame (self)
self.control_frame.pack (side = 'left', before = self.table_view,
fill = 'y')
- self.lower_clamp_1_open_button = Button (self.control_frame,
- text = 'LClamp 1 open', padx = 0, pady = 0,
- command = self.lower_clamp_1_open_command)
- self.lower_clamp_1_open_button.pack ()
- self.lower_clamp_2_open_button = Button (self.control_frame,
- text = 'LClamp 2 open', padx = 0, pady = 0,
- command = self.lower_clamp_2_open_command)
- self.lower_clamp_2_open_button.pack ()
+ def out_button (name, toggle):
+ def command ():
+ self.io.output (toggle, 'toggle')
+ button = Button (self.control_frame, text = name,
+ padx = 0, pady = 0, command = command)
+ button.pack ()
+ out_button ('LClamp 1 open', self.LOWER_CLAMP_1_OPEN)
+ out_button ('LClamp 2 open', self.LOWER_CLAMP_2_OPEN)
self.lower_clamp_rotate_button = Button (self.control_frame,
text = 'LClamp rotate', padx = 0, pady = 0,
command = self.lower_clamp_rotate_command)
self.lower_clamp_rotate_button.pack ()
+ out_button ('UClamp up/down',
+ self.UPPER_CLAMP_UP | self.UPPER_CLAMP_DOWN)
+ out_button ('UClamp in/out',
+ self.UPPER_CLAMP_IN | self.UPPER_CLAMP_OUT)
+ out_button ('UClamp open', self.UPPER_CLAMP_OPEN)
self.backward_var = IntVar ()
self.backward_button = Checkbutton (self.control_frame,
text = 'Backward', variable = self.backward_var)