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authorNicolas Schodet2009-05-03 00:19:46 +0200
committerNicolas Schodet2009-05-03 00:19:46 +0200
commit346abb99346ae7b94d0b2a49cc32f0363aed6018 (patch)
treedf2bffec6c1dce856f800550eabf46c1fa3db8b3 /host/simu
parentc00406af97d8009f89b4b542132cf2620d3f93f1 (diff)
* host/simu:
- added AquaJim.
Diffstat (limited to 'host/simu')
-rw-r--r--host/simu/robots/aquajim/__init__.py0
-rw-r--r--host/simu/robots/aquajim/link/__init__.py0
-rw-r--r--host/simu/robots/aquajim/link/bag.py33
-rw-r--r--host/simu/robots/aquajim/model/__init__.py0
-rw-r--r--host/simu/robots/aquajim/model/bag.py52
-rw-r--r--host/simu/robots/aquajim/model/sorter.py51
-rw-r--r--host/simu/robots/aquajim/view/__init__.py0
-rw-r--r--host/simu/robots/aquajim/view/arm.py59
-rw-r--r--host/simu/robots/aquajim/view/bag.py46
-rw-r--r--host/simu/robots/aquajim/view/elevator.py49
-rw-r--r--host/simu/robots/aquajim/view/robot.py64
11 files changed, 354 insertions, 0 deletions
diff --git a/host/simu/robots/aquajim/__init__.py b/host/simu/robots/aquajim/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/aquajim/__init__.py
diff --git a/host/simu/robots/aquajim/link/__init__.py b/host/simu/robots/aquajim/link/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/aquajim/link/__init__.py
diff --git a/host/simu/robots/aquajim/link/bag.py b/host/simu/robots/aquajim/link/bag.py
new file mode 100644
index 00000000..3cb9e1b2
--- /dev/null
+++ b/host/simu/robots/aquajim/link/bag.py
@@ -0,0 +1,33 @@
+# 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.
+#
+# }}}
+"""AquaJim bag of links."""
+import io.mex
+import asserv.mex
+
+class Bag:
+
+ def __init__ (self, node):
+ self.asserv = asserv.mex.Mex (node)
+ self.io = io.mex.Mex (node)
+
diff --git a/host/simu/robots/aquajim/model/__init__.py b/host/simu/robots/aquajim/model/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/aquajim/model/__init__.py
diff --git a/host/simu/robots/aquajim/model/bag.py b/host/simu/robots/aquajim/model/bag.py
new file mode 100644
index 00000000..d8231e6b
--- /dev/null
+++ b/host/simu/robots/aquajim/model/bag.py
@@ -0,0 +1,52 @@
+# 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.
+#
+# }}}
+"""AquaJim bag of models."""
+from simu.model.switch import Switch
+from simu.model.position import Position
+from simu.model.distance_sensor_sharps import DistanceSensorSharps
+from simu.robots.aquajim.model.sorter import Sorter
+from math import pi
+
+class Bag:
+
+ def __init__ (self, scheduler, table, link_bag):
+ self.jack = Switch (link_bag.io.jack)
+ self.color_switch = Switch (link_bag.io.color_switch)
+ self.position = Position (link_bag.asserv.position)
+ self.sorter = Sorter (table, link_bag.asserv.aux[0],
+ link_bag.asserv.aux[1], link_bag.io.servo[0:2])
+ self.distance_sensor = [
+ DistanceSensorSharps (link_bag.io.adc[0], scheduler, table,
+ (150, 150), 0, (self.position, )),
+ DistanceSensorSharps (link_bag.io.adc[1], scheduler, table,
+ (150, 0), 0, (self.position, )),
+ DistanceSensorSharps (link_bag.io.adc[2], scheduler, table,
+ (150, -150), 0, (self.position, )),
+ DistanceSensorSharps (link_bag.io.adc[3], scheduler, table,
+ (-150, 100), pi, (self.position, )),
+ DistanceSensorSharps (link_bag.io.adc[4], scheduler, table,
+ (-150, -100), pi, (self.position, )),
+ ]
+ self.path = link_bag.io.path
+
diff --git a/host/simu/robots/aquajim/model/sorter.py b/host/simu/robots/aquajim/model/sorter.py
new file mode 100644
index 00000000..56f1fc3e
--- /dev/null
+++ b/host/simu/robots/aquajim/model/sorter.py
@@ -0,0 +1,51 @@
+# 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.
+#
+# }}}
+"""AquaJim pucks sorter."""
+from utils.observable import Observable
+from math import pi
+
+class Sorter (Observable):
+
+ def __init__ (self, table, arm_motor_link, elevator_motor_link, servo_links):
+ Observable.__init__ (self)
+ self.table = table
+ self.arm_motor_link = arm_motor_link
+ self.arm_motor_link.register (self.__arm_motor_notified)
+ self.__arm_motor_notified ()
+ self.elevator_motor_link = elevator_motor_link
+ self.elevator_motor_link.register (self.__elevator_motor_notified)
+ self.__elevator_motor_notified ()
+ self.servo_links = servo_links
+
+ def __arm_motor_notified (self):
+ self.arm_angle = self.arm_motor_link.angle
+ self.notify ()
+
+ def __elevator_motor_notified (self):
+ if self.elevator_motor_link.angle is None:
+ self.elevator_height = None
+ else:
+ self.elevator_height = 150 - self.elevator_motor_link.angle * 5.5
+ self.notify ()
+
diff --git a/host/simu/robots/aquajim/view/__init__.py b/host/simu/robots/aquajim/view/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/aquajim/view/__init__.py
diff --git a/host/simu/robots/aquajim/view/arm.py b/host/simu/robots/aquajim/view/arm.py
new file mode 100644
index 00000000..ee8aaa95
--- /dev/null
+++ b/host/simu/robots/aquajim/view/arm.py
@@ -0,0 +1,59 @@
+# 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.
+#
+# }}}
+"""AquaJim arm."""
+from simu.inter.drawable import Drawable
+from math import pi, cos, sin
+
+class Arm (Drawable):
+
+ 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.arm_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)
+
diff --git a/host/simu/robots/aquajim/view/bag.py b/host/simu/robots/aquajim/view/bag.py
new file mode 100644
index 00000000..c617f381
--- /dev/null
+++ b/host/simu/robots/aquajim/view/bag.py
@@ -0,0 +1,46 @@
+# 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.
+#
+# }}}
+"""AquaJim bag of views."""
+from simu.view.switch import Switch
+from simu.view.distance_sensor import DistanceSensor
+from simu.view.path import Path
+from simu.robots.aquajim.view.robot import Robot
+from simu.robots.aquajim.view.arm import Arm
+from simu.robots.aquajim.view.elevator import Elevator
+
+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.robot = Robot (table, model_bag.position)
+ self.arm = Arm (actuator_view.add_view (Arm.width, Arm.height),
+ model_bag.sorter)
+ self.elevator = Elevator (actuator_view.add_view (Elevator.width,
+ Elevator.height), model_bag.sorter)
+ self.distance_sensor = [DistanceSensor (self.robot, ds)
+ for ds in model_bag.distance_sensor]
+ self.path = Path (table, model_bag.path)
+
diff --git a/host/simu/robots/aquajim/view/elevator.py b/host/simu/robots/aquajim/view/elevator.py
new file mode 100644
index 00000000..61c87e55
--- /dev/null
+++ b/host/simu/robots/aquajim/view/elevator.py
@@ -0,0 +1,49 @@
+# 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.
+#
+# }}}
+"""AquaJim elevator."""
+from simu.inter.drawable import Drawable
+
+class Elevator (Drawable):
+
+ width = 320 / 1.5
+ height = 320
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+ self.__notified ()
+
+ def __notified (self):
+ self.height = self.model.elevator_height
+ self.update ()
+
+ def draw (self):
+ self.reset ()
+ self.trans_translate ((-35, -150))
+ self.draw_line ((-10, 300), (-10, 0), (70, 0), fill = '#808080')
+ if self.height is not None:
+ self.trans_translate ((0, self.height))
+ self.draw_line ((0, 150), (0, 0), (70, 0))
+
diff --git a/host/simu/robots/aquajim/view/robot.py b/host/simu/robots/aquajim/view/robot.py
new file mode 100644
index 00000000..8974b179
--- /dev/null
+++ b/host/simu/robots/aquajim/view/robot.py
@@ -0,0 +1,64 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2008 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.
+#
+# }}}
+"""AquaJim robot view."""
+import simu.inter.drawable
+
+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)
+ 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_rotate (self.angle)
+ self.trans_translate (self.pos)
+ # Draw robot body.
+ # TODO
+ self.draw_polygon ((150, 150), (150, -150), (-150, -150),
+ (-150, 150), (150, 150))
+ # Draw Robot axis.
+ axes_fill = '#404040'
+ self.draw_line ((-150, 0), (150, 0), fill = axes_fill,
+ arrow = 'last')
+ # Draw Robot wheels.
+ f = 150 # Wheel spacing
+ wr = 63 / 2 # Wheel diameter
+ self.draw_line ((0, +f / 2), (0, -f / 2), fill = axes_fill)
+ self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = axes_fill)
+ self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = axes_fill)
+ # Extends.
+ simu.inter.drawable.Drawable.draw (self)
+