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-rw-r--r--digital/ai/tools/marcel.py39
1 files changed, 39 insertions, 0 deletions
diff --git a/digital/ai/tools/marcel.py b/digital/ai/tools/marcel.py
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+++ b/digital/ai/tools/marcel.py
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+import simu.model.table_eurobot2010
+import simu.view.table_eurobot2010
+
+import simu.robots.marcel.link.bag
+import simu.robots.marcel.model.bag
+import simu.robots.marcel.view.bag
+
+import asserv
+import asserv.init
+import mimot
+import mimot.init
+import io
+import io.init
+
+from proto.popen_io import PopenIO
+import math
+
+class Robot:
+
+ def __init__ (self, proto_time):
+ self.table_model = simu.model.table_eurobot2010
+ self.table_view = simu.view.table_eurobot2010
+ self.robot_link = simu.robots.marcel.link.bag
+ self.robot_model = simu.robots.marcel.model.bag
+ self.robot_view = simu.robots.marcel.view.bag
+ asserv_cmd = ('../../asserv/src/asserv/asserv.host', '-m9', 'marcel')
+ mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel')
+ io_cmd = ('../../io/src/io.host')
+ self.asserv = asserv.Proto (PopenIO (asserv_cmd), proto_time,
+ **asserv.init.host)
+ self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time,
+ **mimot.init.host)
+ self.io = io.Proto (PopenIO (io_cmd), proto_time,
+ **io.init.host)
+ self.robot_start_pos = {
+ False: (300, 2100 - 305, math.radians (-270)),
+ True: (3000 - 300, 2100 - 305, math.radians (-270))
+ }
+