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+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""Generic servo motor."""
+from simu.inter.drawable import Drawable
+from math import pi, sin, cos
+
+class Servo (Drawable):
+
+ def __init__ (self, onto, model, coord = (0, 0), l = 1, start = 0,
+ extent = pi / 2):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.coord = coord
+ self.l = l
+ self.start = start
+ self.extent = extent
+ self.model.register (self.__notified)
+ self.__notified ()
+
+ def __notified (self):
+ self.value = self.model.value
+ self.update ()
+
+ def draw (self):
+ self.reset ()
+ if self.value is not None:
+ self.draw_arc (self.coord, self.l, start = self.start,
+ extent = self.extent, style = 'arc', outline = '#808080')
+ a = self.start + self.value * self.extent
+ self.draw_line (self.coord, (self.coord[0] + self.l * cos (a),
+ self.coord[1] + self.l * sin (a)))
+ Drawable.draw (self)
+