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authorNicolas Schodet2012-03-30 00:08:05 +0200
committerNicolas Schodet2012-03-30 00:21:12 +0200
commitb2eeb382f494eea1c96656cc8a9e6719a6294d8f (patch)
tree1a452688693bb9e31d289a27062fc2c25099d8d9 /host/simu/robots/guybrush/model/clamps.py
parentc052f0b3fb863a95b42e27f3c945a54135c042b7 (diff)
host/simu/robots/guybrush: add lower clamp
Diffstat (limited to 'host/simu/robots/guybrush/model/clamps.py')
-rw-r--r--host/simu/robots/guybrush/model/clamps.py49
1 files changed, 49 insertions, 0 deletions
diff --git a/host/simu/robots/guybrush/model/clamps.py b/host/simu/robots/guybrush/model/clamps.py
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+++ b/host/simu/robots/guybrush/model/clamps.py
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+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2012 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.
+#
+# }}}
+"""Guybrush clamps."""
+from utils.observable import Observable
+
+class Clamps (Observable):
+
+ def __init__ (self, table, robot_position, lower_clamp_motor,
+ lower_clamp_cylinders):
+ Observable.__init__ (self)
+ self.table = table
+ self.robot_position = robot_position
+ self.lower_clamp_motor = lower_clamp_motor
+ self.lower_clamp_cylinders = lower_clamp_cylinders
+ self.lower_clamp_clamping = [ None, None ]
+ self.lower_clamp_motor.register (self.__lower_clamp_notified)
+ for c in self.lower_clamp_cylinders:
+ c.register (self.__lower_clamp_notified)
+
+ def __lower_clamp_notified (self):
+ self.lower_clamp_rotation = self.lower_clamp_motor.angle
+ for i, c in enumerate (self.lower_clamp_cylinders):
+ if c.pos is None:
+ self.lower_clamp_clamping[i] = None
+ else:
+ self.lower_clamp_clamping[i] = (1.0
+ - (c.pos - c.pos_in) / (c.pos_out - c.pos_in))
+ self.notify ()