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authorNicolas Schodet2009-05-05 08:27:34 +0200
committerNicolas Schodet2009-05-05 08:27:34 +0200
commiteb2c866a65980de8c7447a72d91d9dea7d36ffbf (patch)
treee96b9a5e31556c69609e141597fa83dacec52887 /host/simu
parentc2b0d24d97c81990b213905ff58088136410a666 (diff)
* host/simu:
- added elevator doors.
Diffstat (limited to 'host/simu')
-rw-r--r--host/simu/model/motor_basic.py75
-rw-r--r--host/simu/robots/aquajim/model/bag.py6
-rw-r--r--host/simu/robots/aquajim/model/sorter.py4
-rw-r--r--host/simu/robots/aquajim/view/elevator.py19
4 files changed, 101 insertions, 3 deletions
diff --git a/host/simu/model/motor_basic.py b/host/simu/model/motor_basic.py
new file mode 100644
index 00000000..e22a72c2
--- /dev/null
+++ b/host/simu/model/motor_basic.py
@@ -0,0 +1,75 @@
+# 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.
+#
+# }}}
+"""Very basic motor model."""
+from utils.observable import Observable
+
+class MotorBasic (Observable):
+
+ def __init__ (self, link, scheduler,
+ speed, min_stop = None, max_stop = None):
+ """Motor parameters:
+ - speed: rad/s for a 1.0 value.
+ - min_stop, max_stop: rad, mechanical stops."""
+ Observable.__init__ (self)
+ self.scheduler = scheduler
+ self.speed = speed
+ self.min_stop = min_stop
+ self.max_stop = max_stop
+ self.angle = 0
+ self.link = link
+ self.link.register (self.__notified)
+ self.value = None
+ self.last_update = self.scheduler.date
+ self.__notified ()
+ self.__timed_update ()
+
+ def __notified (self):
+ # Update angle.
+ self.__update ()
+ # Update value.
+ self.value = self.link.value
+ self.notify ()
+
+ def __timed_update (self):
+ # Update angle, reset limit.
+ self.limit = False
+ self.__update ()
+ self.notify ()
+ # Restart timer.
+ self.scheduler.schedule (self.scheduler.date
+ + int (self.scheduler.tick * 0.1), self.__timed_update)
+
+ def __update (self):
+ delta_t = (float (self.scheduler.date - self.last_update) /
+ self.scheduler.tick)
+ v = self.value or 0
+ self.angle += v * self.speed * delta_t
+ self.last_update = self.scheduler.date
+ if self.angle < self.min_stop:
+ self.angle = self.min_stop
+ self.limit = True
+ elif self.angle > self.max_stop:
+ self.angle = self.max_stop
+ self.limit = True
+
diff --git a/host/simu/robots/aquajim/model/bag.py b/host/simu/robots/aquajim/model/bag.py
index d8231e6b..6cbc52ef 100644
--- a/host/simu/robots/aquajim/model/bag.py
+++ b/host/simu/robots/aquajim/model/bag.py
@@ -24,6 +24,7 @@
"""AquaJim bag of models."""
from simu.model.switch import Switch
from simu.model.position import Position
+from simu.model.motor_basic import MotorBasic
from simu.model.distance_sensor_sharps import DistanceSensorSharps
from simu.robots.aquajim.model.sorter import Sorter
from math import pi
@@ -34,8 +35,11 @@ class 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.elevator_door = MotorBasic (link_bag.io.pwm[0], scheduler,
+ 2 * pi, 0, pi / 2)
self.sorter = Sorter (table, link_bag.asserv.aux[0],
- link_bag.asserv.aux[1], link_bag.io.servo[0:2])
+ link_bag.asserv.aux[1], link_bag.io.servo[0:2],
+ self.elevator_door)
self.distance_sensor = [
DistanceSensorSharps (link_bag.io.adc[0], scheduler, table,
(150, 150), 0, (self.position, )),
diff --git a/host/simu/robots/aquajim/model/sorter.py b/host/simu/robots/aquajim/model/sorter.py
index 56f1fc3e..5c4a013f 100644
--- a/host/simu/robots/aquajim/model/sorter.py
+++ b/host/simu/robots/aquajim/model/sorter.py
@@ -27,7 +27,8 @@ from math import pi
class Sorter (Observable):
- def __init__ (self, table, arm_motor_link, elevator_motor_link, servo_links):
+ def __init__ (self, table, arm_motor_link, elevator_motor_link,
+ servo_links, elevator_door_model):
Observable.__init__ (self)
self.table = table
self.arm_motor_link = arm_motor_link
@@ -37,6 +38,7 @@ class Sorter (Observable):
self.elevator_motor_link.register (self.__elevator_motor_notified)
self.__elevator_motor_notified ()
self.servo_links = servo_links
+ self.elevator_door = elevator_door_model
def __arm_motor_notified (self):
self.arm_angle = self.arm_motor_link.angle
diff --git a/host/simu/robots/aquajim/view/elevator.py b/host/simu/robots/aquajim/view/elevator.py
index 61c87e55..8c83ac5e 100644
--- a/host/simu/robots/aquajim/view/elevator.py
+++ b/host/simu/robots/aquajim/view/elevator.py
@@ -26,7 +26,7 @@ from simu.inter.drawable import Drawable
class Elevator (Drawable):
- width = 320 / 1.5
+ width = 320 / 1.2
height = 320
def __init__ (self, onto, model):
@@ -34,11 +34,24 @@ class Elevator (Drawable):
self.model = model
self.model.register (self.__notified)
self.__notified ()
+ self.door_model = model.elevator_door
+ self.door_model.register (self.__door_notified)
+ self.__door_notified ()
def __notified (self):
self.height = self.model.elevator_height
self.update ()
+ def __door_notified (self):
+ m = self.door_model
+ if m.angle is None:
+ self.door_value = None
+ self.door_limit = None
+ else:
+ self.door_value = m.angle / (m.max_stop - m.min_stop) - m.min_stop
+ self.door_limit = self.door_model.limit
+ self.update ()
+
def draw (self):
self.reset ()
self.trans_translate ((-35, -150))
@@ -46,4 +59,8 @@ class Elevator (Drawable):
if self.height is not None:
self.trans_translate ((0, self.height))
self.draw_line ((0, 150), (0, 0), (70, 0))
+ if self.door_value is not None:
+ self.trans_translate ((5 + self.door_value * 70, 0))
+ self.draw_line ((0, 120), (0, 0),
+ fill = self.door_limit and 'red' or 'black')