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-rw-r--r--digital/io/tools/test_simu_control.py108
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diff --git a/digital/io/tools/test_simu_control.py b/digital/io/tools/test_simu_control.py
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--- a/digital/io/tools/test_simu_control.py
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-# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
-#
-# 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.
-#
-# }}}
-from test_simu import TestSimu, run
-from Tkinter import *
-import math
-
-class TestSimuControl (TestSimu):
- """Interface with extra control."""
-
- def __init__ (self, robot_class):
- TestSimu.__init__ (self, robot_class)
-
- def create_widgets (self):
- TestSimu.create_widgets (self)
- self.control_frame = Frame (self)
- self.control_frame.pack (side = 'left', before = self.table_view,
- fill = 'y')
- self.clamp_var = IntVar ()
- self.clamp_button = Checkbutton (self.control_frame, text = 'Clamp',
- indicatoron = False,
- variable = self.clamp_var, command = self.clamp_command)
- self.clamp_button.pack ()
- self.elevator_var = IntVar ()
- self.elevator_button = Checkbutton (self.control_frame,
- text = 'Elevator', indicatoron = False,
- variable = self.elevator_var, command = self.elevator_command)
- self.elevator_button.pack ()
- self.gate_var = IntVar ()
- self.gate_button = Checkbutton (self.control_frame,
- text = 'Gate', indicatoron = False,
- variable = self.gate_var, command = self.gate_command)
- self.gate_button.pack ()
- self.loader_up_button = Button (self.control_frame,
- text = 'Loader up', padx = 0, pady = 0,
- command = self.loader_up_command)
- self.loader_up_button.pack ()
- self.loader_down_button = Button (self.control_frame,
- text = 'Loader down', padx = 0, pady = 0,
- command = self.loader_down_command)
- self.loader_down_button.pack ()
- self.table_view.bind ('<1>', self.move)
- self.table_view.bind ('<3>', self.orient)
-
- def move (self, ev):
- pos = self.table_view.screen_coord ((ev.x, ev.y))
- self.asserv.goto (pos[0], pos[1])
-
- def orient (self, ev):
- x, y = self.table_view.screen_coord ((ev.x, ev.y))
- robot_pos = self.robot_model.position.pos
- if robot_pos is not None:
- a = math.atan2 (y - robot_pos[1], x - robot_pos[0])
- self.asserv.goto_angle (a)
-
- def clamp_command (self):
- if self.clamp_var.get ():
- self.mimot.clamp ('a0', 0x60, 0x100)
- self.mimot.clamp ('a1', 0x60, 0x100)
- else:
- self.mimot.goto_pos ('a0', 0)
- self.mimot.goto_pos ('a1', 0)
-
- def elevator_command (self):
- if self.elevator_var.get ():
- pos = 7089
- else:
- pos = 0
- self.asserv.goto_pos ('a0', pos)
-
- def gate_command (self):
- if self.gate_var.get ():
- pos = -0x1d6b
- else:
- pos = 0
- self.asserv.goto_pos ('a1', pos)
-
- def loader_up_command (self):
- self.io.loader ('u')
-
- def loader_down_command (self):
- self.io.loader ('d')
-
- def change_color (self, *dummy):
- pass
-
-if __name__ == '__main__':
- run ('marcel', TestSimuControl)