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+# mimot - Mini motor control, with motor driver. {{{
+#
+# Copyright (C) 2010 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.
+#
+# }}}
+"""Mex interface to mimot."""
+
+from utils.observable import Observable
+
+ID_AUX = 0xc8
+
+class Mex:
+ """Handle communications with simulated mimot."""
+
+ class Aux (Observable):
+ """Auxiliary motor angle.
+
+ - angle: radian.
+
+ """
+
+ def __init__ (self):
+ Observable.__init__ (self)
+ self.angle = None
+
+ class Pack:
+ """Handle reception of several Aux for one message."""
+
+ def __init__ (self, node, list):
+ self.__list = list
+ node.register (ID_AUX, self.__handle)
+
+ def __handle (self, msg):
+ angles = msg.pop ('%dl' % len (self.__list))
+ for aux, angle in zip (self.__list, angles):
+ aux.angle = float (angle) / 1024
+ aux.notify ()
+
+ def __init__ (self, node):
+ self.aux = (self.Aux (), self.Aux ())
+ self.__aux_pack = self.Aux.Pack (node, self.aux)
+