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authorNicolas Schodet2012-03-30 00:00:57 +0200
committerNicolas Schodet2012-03-30 00:00:57 +0200
commitc052f0b3fb863a95b42e27f3c945a54135c042b7 (patch)
treef1f47614936ca8db6a8b77a28c0914c2d9787aa5 /host
parent173abb23cb2dc3a50bea5088e25e3a2de010f192 (diff)
host/simu/model: add pneumatic cylinder model
Diffstat (limited to 'host')
-rw-r--r--host/simu/model/pneumatic_cylinder.py91
1 files changed, 91 insertions, 0 deletions
diff --git a/host/simu/model/pneumatic_cylinder.py b/host/simu/model/pneumatic_cylinder.py
new file mode 100644
index 00000000..05ee0cc3
--- /dev/null
+++ b/host/simu/model/pneumatic_cylinder.py
@@ -0,0 +1,91 @@
+# 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.
+#
+# }}}
+"""Pneumatic cylinder model."""
+from utils.observable import Observable
+
+class PneumaticCylinder (Observable):
+
+ def __init__ (self, link_in, link_out, scheduler,
+ pos_in, pos_out, speed_in, speed_out, init_pos):
+ """Cylinder parameters:
+ - link_in, link_out: output conected to valve, if one is none, use
+ simple effect.
+ - pos_in, pos_out: maximum position in each direction (minimum and
+ maximum length) (mm).
+ - speed_in, speed_out: linear speed (mm/s).
+ - init_pos: initial position (mm)."""
+ Observable.__init__ (self)
+ self.link_in, self.link_out = link_in, link_out
+ self.scheduler = scheduler
+ self.pos_in, self.pos_out = pos_in, pos_out
+ self.speed_in, self.speed_out = speed_in, speed_out
+ self.last_update = self.scheduler.date
+ self.speed = 0
+ self.pos = init_pos
+ if self.link_in:
+ self.link_in.register (self.__notified)
+ if self.link_out:
+ self.link_out.register (self.__notified)
+ self.__timed_update ()
+
+ def __notified (self):
+ # Update position.
+ self.__update ()
+ # Update current speed.
+ if self.link_in and self.link_out:
+ i = self.link_in.state
+ o = self.link_out.state
+ elif self.link_in:
+ i = self.link_in.state
+ o = not i
+ elif self.link_out:
+ o = self.link_out.state
+ i = not o
+ if i == o:
+ self.speed = 0
+ elif i:
+ self.speed = -self.speed_in
+ elif o:
+ self.speed = self.speed_out
+
+ def __timed_update (self):
+ # Update position.
+ self.__update ()
+ # 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)
+ old_pos = self.pos
+ self.pos += self.speed * delta_t
+ self.last_update = self.scheduler.date
+ if self.pos < self.pos_in:
+ self.pos = self.pos_in
+ elif self.pos > self.pos_out:
+ self.pos = self.pos_out
+ if old_pos != self.pos:
+ self.notify ()
+