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authorNicolas Schodet2010-04-29 23:04:24 +0200
committerNicolas Schodet2010-04-29 23:04:24 +0200
commitaba42167653240bff325716a2c1137c6eafdc792 (patch)
tree78969e0e4b3cd8c6fc449dab8d46f6a7431a9350 /digital/io/tools/test_simu_control.py
parent5532fb5e50d071be08e3c37404d1755748762d7c (diff)
digital/io/tools: add mimot and actuator support, closes #131
Diffstat (limited to 'digital/io/tools/test_simu_control.py')
-rw-r--r--digital/io/tools/test_simu_control.py33
1 files changed, 30 insertions, 3 deletions
diff --git a/digital/io/tools/test_simu_control.py b/digital/io/tools/test_simu_control.py
index 79724c1c..61d0f8df 100644
--- a/digital/io/tools/test_simu_control.py
+++ b/digital/io/tools/test_simu_control.py
@@ -28,14 +28,24 @@ import math
class TestSimuControl (TestSimu):
"""Interface with extra control."""
- def __init__ (self, asserv_cmd, io_cmd):
- TestSimu.__init__ (self, asserv_cmd, io_cmd)
+ def __init__ (self, asserv_cmd, mimot_cmd, io_cmd):
+ TestSimu.__init__ (self, asserv_cmd, mimot_cmd, io_cmd)
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.clamp_var = IntVar ()
+ self.clamp_button = Checkbutton (self.control_frame, text = 'Clamp',
+ indicatoron = False,
+ variable = self.clamp_var, command = self.clamp_command)
+ self.clamp_button.pack ()
+ self.elevator_var = IntVar ()
+ self.elevator_button = Checkbutton (self.control_frame,
+ text = 'Elevator', indicatoron = False,
+ variable = self.elevator_var, command = self.elevator_command)
+ self.elevator_button.pack ()
self.table_view.bind ('<1>', self.move)
self.table_view.bind ('<3>', self.orient)
@@ -50,11 +60,28 @@ class TestSimuControl (TestSimu):
a = math.atan2 (y - robot_pos[1], x - robot_pos[0])
self.asserv.goto_angle (a)
+ def clamp_command (self):
+ if self.clamp_var.get ():
+ pos = 6000
+ else:
+ pos = 0
+ self.mimot.goto_pos ('a0', pos)
+ self.mimot.goto_pos ('a1', pos)
+
+ def elevator_command (self):
+ if self.elevator_var.get ():
+ pos = 11800
+ else:
+ pos = 0
+ self.asserv.goto_pos ('a0', pos)
+
def change_color (self, *dummy):
pass
if __name__ == '__main__':
app = TestSimuControl (('../../asserv/src/asserv/asserv.host', '-m9',
- 'marcel'), ('../src/io.host'))
+ 'marcel'),
+ ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel'),
+ ('../src/io.host'))
app.mainloop ()
app.close ()