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-rw-r--r--host/inter/inter_node.py17
1 files changed, 7 insertions, 10 deletions
diff --git a/host/inter/inter_node.py b/host/inter/inter_node.py
index a69ea01f..b744cade 100644
--- a/host/inter/inter_node.py
+++ b/host/inter/inter_node.py
@@ -75,10 +75,8 @@ class InterNode (Inter):
s.obstacles = self.obstacles
s.hide = True
s.register (self.update_sharps)
- self.tableview.robot.drawn.extend (self.dist_sensors)
self.update_sharps ()
self.path = Path (self.tableview.table)
- self.tableview.drawn.append (self.path)
self.io_link.path.register (self.notify_path)
def createWidgets (self):
@@ -145,11 +143,11 @@ class InterNode (Inter):
def notify_position (self):
self.tableview.robot.pos = self.asserv_link.position.pos
self.tableview.robot.angle = self.asserv_link.position.angle
- self.update (self.tableview.robot)
+ self.tableview.robot.update ()
def notify_aux0 (self):
self.actuatorview.arm.angle = self.asserv_link.aux[0].angle
- self.update (self.actuatorview.arm)
+ self.actuatorview.arm.update ()
def notify_jack (self):
self.io_link.jack.state = self.jackVar.get ()
@@ -163,7 +161,7 @@ class InterNode (Inter):
servo = self.io_link.servo[i]
trap = self.actuatorview.rear.traps[i]
trap.pos = servo.value
- self.update (trap)
+ trap.update ()
def update_sharps (self):
for ds, adc in zip (self.dist_sensors, self.io_link.adc):
@@ -180,7 +178,7 @@ class InterNode (Inter):
def notify_path (self):
self.path.path = self.io_link.path.path
- self.update (self.path)
+ self.path.update ()
def place_obstacle (self, ev):
pos = self.tableview.screen_coord ((ev.x, ev.y))
@@ -188,16 +186,15 @@ class InterNode (Inter):
self.obstacles[0].pos = pos
else:
self.obstacles.append (Obstacle (self.tableview.table, pos, 150))
- self.tableview.drawn.append (self.obstacles[0])
- self.update (*self.obstacles)
- self.update (*self.dist_sensors)
+ for d in self.obstacles + self.dist_sensors:
+ d.update ()
self.update ()
def show_sensors (self):
hide = not self.showSensorsVar.get ()
for i in self.dist_sensors:
i.hide = hide
- self.update (*self.dist_sensors)
+ i.update ()
self.update ()
if __name__ == '__main__':