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authorNicolas Schodet2009-04-30 09:53:44 +0200
committerNicolas Schodet2009-04-30 09:53:44 +0200
commit69305ae1ed6da084b6ee65dba3ce44f0d6cbe2d1 (patch)
treebb898529fc7e986429094dd9b5d28ce4397dbba7 /host/simu/robots/giboulee/view/arm.py
parentfb3cfa5a0ac1acb58c2067cd1aad0339b534f982 (diff)
* host/simu, digital/io/tools:
- new simulation infrastructure.
Diffstat (limited to 'host/simu/robots/giboulee/view/arm.py')
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diff --git a/host/simu/robots/giboulee/view/arm.py b/host/simu/robots/giboulee/view/arm.py
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+++ b/host/simu/robots/giboulee/view/arm.py
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+# 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 simu.inter.drawable import Drawable
+from math import pi, cos, sin
+
+class Arm (Drawable):
+ """Giboulee arm."""
+
+ width = 1
+ height = 1
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+ self.__notified ()
+
+ def __notified (self):
+ self.angle = self.model.angle
+ self.update ()
+
+ def draw (self):
+ self.reset ()
+ self.draw_arc ((0, 0), 0.45, start = 7 * pi / 12, extent = 10 * pi / 12,
+ style = 'arc', outline = '#808080')
+ self.draw_arc ((0, 0), 0.45, start = -5 * pi / 12, extent = 10 * pi / 12,
+ style = 'arc', outline = '#808080')
+ self.draw_arc ((0, 0), 0.25, start = -7 * pi / 12, extent = 14 * pi / 12,
+ style = 'arc', outline = '#808080')
+ if self.angle is not None:
+ self.trans_scale (0.4)
+ self.trans_rotate (-self.angle)
+ self.draw_line ((0, 0), (0, 1))
+ self.draw_line ((0, 1), (0.3, 1), arrow = 'last', fill = '#808080')
+ self.draw_line ((0, 0), (cos (pi / 6), -sin (pi / 6)))
+ self.draw_line ((0, 0), (-cos (pi / 6), -sin (pi / 6)))
+ Drawable.draw (self)
+