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-rw-r--r--digital/io/tools/test_simu_control.py81
1 files changed, 81 insertions, 0 deletions
diff --git a/digital/io/tools/test_simu_control.py b/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_aquajim import TestSimu
+from Tkinter import *
+import math
+
+class TestSimuControl (TestSimu):
+ """Interface with extra control."""
+
+ def __init__ (self, asserv_cmd, io_cmd):
+ TestSimu.__init__ (self, asserv_cmd, io_cmd)
+ self.door_pos = 0
+ self.finger_pos = 0
+
+ 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.cylinder_button = Button (self.control_frame, text = 'Cylinder',
+ command = self.cylinder_command)
+ self.cylinder_button.pack ()
+ self.door_button = Button (self.control_frame, text = 'Door',
+ command = self.door_command)
+ self.door_button.pack ()
+ self.finger_button = Button (self.control_frame, text = 'Finger',
+ command = self.finger_command)
+ self.finger_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 cylinder_command (self):
+ self.asserv.speed_pos ('a0', 5333 / 3)
+
+ def door_command (self):
+ self.door_pos = 1 - self.door_pos
+ self.io.servo_pos (0, self.door_pos)
+
+ def finger_command (self):
+ self.finger_pos = 1 - self.finger_pos
+ self.io.servo_pos (1, self.finger_pos)
+
+ def change_color (self, *dummy):
+ pass
+
+if __name__ == '__main__':
+ app = TestSimuControl (('../../asserv/src/asserv/asserv.host', '-m',
+ 'aquajim'), ('../src/io.host'))
+ app.mainloop ()