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authorNicolas Schodet2012-03-26 01:01:02 +0200
committerNicolas Schodet2012-03-26 01:01:02 +0200
commitb205ee5bcb6adacf9b23448bf17ee0ff8bd16ae3 (patch)
tree6bdd15258808a9c10a327d5ffeaba9dd661ccdb0 /host/simu/robots/guybrush/view
parentc912f3edd803e4d8e6664e360590a0a538fbc7e5 (diff)
digital/{ai, io-hub}, host/simu/robots: add guybrush
Still use robospierre parameters for asserv and mimot
Diffstat (limited to 'host/simu/robots/guybrush/view')
-rw-r--r--host/simu/robots/guybrush/view/__init__.py0
-rw-r--r--host/simu/robots/guybrush/view/bag.py44
-rw-r--r--host/simu/robots/guybrush/view/robot.py74
3 files changed, 118 insertions, 0 deletions
diff --git a/host/simu/robots/guybrush/view/__init__.py b/host/simu/robots/guybrush/view/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/guybrush/view/__init__.py
diff --git a/host/simu/robots/guybrush/view/bag.py b/host/simu/robots/guybrush/view/bag.py
new file mode 100644
index 00000000..7af72be6
--- /dev/null
+++ b/host/simu/robots/guybrush/view/bag.py
@@ -0,0 +1,44 @@
+# 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 bag of views."""
+from simu.view.switch import Switch
+from simu.view.distance_sensor_us import DistanceSensorUS
+from simu.view.path import Path
+from simu.view.pos_report import PosReport
+from simu.robots.guybrush.view.robot import Robot
+
+class Bag:
+
+ def __init__ (self, table, actuator_view, sensor_frame, model_bag):
+ self.jack = Switch (sensor_frame, model_bag.jack, 'Jack')
+ self.color_switch = Switch (sensor_frame, model_bag.color_switch,
+ 'Color')
+ self.strat_switch = Switch (sensor_frame, model_bag.strat_switch,
+ 'Strat')
+ self.robot = Robot (table, model_bag.position)
+ self.distance_sensor = [DistanceSensorUS (self.robot, ds)
+ for ds in model_bag.distance_sensor]
+ self.path = Path (table, model_bag.path)
+ self.pos_report = PosReport (table, model_bag.pos_report)
+
diff --git a/host/simu/robots/guybrush/view/robot.py b/host/simu/robots/guybrush/view/robot.py
new file mode 100644
index 00000000..52f4d509
--- /dev/null
+++ b/host/simu/robots/guybrush/view/robot.py
@@ -0,0 +1,74 @@
+# 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 robot view."""
+import simu.inter.drawable
+from math import pi
+
+COLOR_ROBOT = '#000000'
+COLOR_AXES = '#202040'
+
+class Robot (simu.inter.drawable.Drawable):
+
+ def __init__ (self, onto, position_model):
+ """Construct and make connections."""
+ simu.inter.drawable.Drawable.__init__ (self, onto)
+ self.position_model = position_model
+ self.position_model.register (self.__position_notified)
+
+ def __position_notified (self):
+ """Called on position modifications."""
+ self.pos = self.position_model.pos
+ self.angle = self.position_model.angle
+ self.update ()
+
+ def draw (self):
+ """Draw the robot."""
+ self.reset ()
+ if self.pos is not None:
+ self.trans_translate (self.pos)
+ self.trans_rotate (self.angle)
+ # Draw robot body.
+ self.draw_polygon ((0, 190), (150, 110), (95, 95), (55, 55),
+ (40, -0), (55, -55), (95, -95), (150, -110), (0, -190),
+ (-150, -110), (-95, -95), (-55, -55), (-40, -0),
+ (-55, 55), (-95, 95), (-150, 110), (0, 190),
+ fill = COLOR_ROBOT)
+ self.draw_arc ((0, 0), 190, start = pi * 35 / 180,
+ extent = pi * 110 / 180, style = 'chord',
+ outline = COLOR_ROBOT, fill = COLOR_ROBOT)
+ self.draw_arc ((0, 0), 190, start = pi + pi * 35 / 180,
+ extent = pi * 110 / 180, style = 'chord',
+ outline = COLOR_ROBOT, fill = COLOR_ROBOT)
+ # Draw Robot axis.
+ self.draw_line ((-50, 0), (50, 0), fill = COLOR_AXES,
+ arrow = 'last')
+ # Draw Robot wheels.
+ f = 221 # Wheel spacing
+ wr = 60 / 2 # Wheel radius
+ self.draw_line ((0, +f / 2), (0, -f / 2), fill = COLOR_AXES)
+ self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = COLOR_AXES)
+ self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = COLOR_AXES)
+ # Extends.
+ simu.inter.drawable.Drawable.draw (self)
+