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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/view
parentc052f0b3fb863a95b42e27f3c945a54135c042b7 (diff)
host/simu/robots/guybrush: add lower clamp
Diffstat (limited to 'host/simu/robots/guybrush/view')
-rw-r--r--host/simu/robots/guybrush/view/bag.py3
-rw-r--r--host/simu/robots/guybrush/view/clamps.py60
2 files changed, 63 insertions, 0 deletions
diff --git a/host/simu/robots/guybrush/view/bag.py b/host/simu/robots/guybrush/view/bag.py
index 7af72be6..f512886a 100644
--- a/host/simu/robots/guybrush/view/bag.py
+++ b/host/simu/robots/guybrush/view/bag.py
@@ -27,6 +27,7 @@ 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
+from simu.robots.guybrush.view.clamps import ClampsSide
class Bag:
@@ -37,6 +38,8 @@ class Bag:
self.strat_switch = Switch (sensor_frame, model_bag.strat_switch,
'Strat')
self.robot = Robot (table, model_bag.position)
+ self.clamps = ClampsSide (actuator_view.add_view (ClampsSide.width,
+ ClampsSide.height), model_bag.clamps)
self.distance_sensor = [DistanceSensorUS (self.robot, ds)
for ds in model_bag.distance_sensor]
self.path = Path (table, model_bag.path)
diff --git a/host/simu/robots/guybrush/view/clamps.py b/host/simu/robots/guybrush/view/clamps.py
new file mode 100644
index 00000000..11ef09b8
--- /dev/null
+++ b/host/simu/robots/guybrush/view/clamps.py
@@ -0,0 +1,60 @@
+# 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 simu.inter.drawable import Drawable
+from math import pi
+
+GREY = '#808080'
+BLACK = '#000000'
+
+class ClampsSide (Drawable):
+
+ width = 440
+ height = 350
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.update)
+
+ def draw (self):
+ self.reset ()
+ # Draw base from side.
+ self.trans_translate ((50, -150))
+ self.draw_line ((-93, 0), (130, 0), fill = GREY)
+ # Draw lower clamp.
+ if self.model.lower_clamp_rotation is not None:
+ self.trans_push ()
+ self.trans_translate ((-117, 84))
+ self.trans_rotate (-self.model.lower_clamp_rotation)
+ self.draw_polygon ((6, -45), (28, 45), (-6, 45), (-28, -45),
+ outline = BLACK, fill = GREY)
+ for i in (0, 1):
+ c = self.model.lower_clamp_clamping[i]
+ if c is not None:
+ self.draw_line ((7, -45), (7, -46 - c * 33),
+ (-28, -46 - c * 33))
+ if not i:
+ self.trans_rotate (pi)
+ self.trans_pop ()