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-rw-r--r--host/simu/robots/marcel/__init__.py0
-rw-r--r--host/simu/robots/marcel/link/__init__.py0
-rw-r--r--host/simu/robots/marcel/link/bag.py33
-rw-r--r--host/simu/robots/marcel/model/__init__.py0
-rw-r--r--host/simu/robots/marcel/model/bag.py50
-rw-r--r--host/simu/robots/marcel/view/__init__.py0
-rw-r--r--host/simu/robots/marcel/view/bag.py40
-rw-r--r--host/simu/robots/marcel/view/robot.py62
8 files changed, 185 insertions, 0 deletions
diff --git a/host/simu/robots/marcel/__init__.py b/host/simu/robots/marcel/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/marcel/__init__.py
diff --git a/host/simu/robots/marcel/link/__init__.py b/host/simu/robots/marcel/link/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/marcel/link/__init__.py
diff --git a/host/simu/robots/marcel/link/bag.py b/host/simu/robots/marcel/link/bag.py
new file mode 100644
index 00000000..e702078b
--- /dev/null
+++ b/host/simu/robots/marcel/link/bag.py
@@ -0,0 +1,33 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""Marcel bag of links."""
+import io.mex
+import asserv.mex
+
+class Bag:
+
+ def __init__ (self, node):
+ self.asserv = asserv.mex.Mex (node)
+ self.io = io.mex.Mex (node)
+
diff --git a/host/simu/robots/marcel/model/__init__.py b/host/simu/robots/marcel/model/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/marcel/model/__init__.py
diff --git a/host/simu/robots/marcel/model/bag.py b/host/simu/robots/marcel/model/bag.py
new file mode 100644
index 00000000..ab4814e0
--- /dev/null
+++ b/host/simu/robots/marcel/model/bag.py
@@ -0,0 +1,50 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""Marcel bag of models."""
+from simu.model.switch import Switch
+from simu.model.position import Position
+from simu.model.distance_sensor_sensopart import DistanceSensorSensopart
+from math import pi
+
+class Bag:
+
+ def __init__ (self, scheduler, table, link_bag):
+ self.jack = Switch (link_bag.io.jack)
+ self.color_switch = Switch (link_bag.io.color_switch)
+ self.contact = [ Switch (contact) for contact in link_bag.io.contact ]
+ self.position = Position (link_bag.asserv.position)
+ self.distance_sensor = [
+ DistanceSensorSensopart (link_bag.io.adc[0], scheduler, table,
+ (30 - 20, 0), 0, (self.position, )),
+ DistanceSensorSensopart (link_bag.io.adc[1], scheduler, table,
+ (20 - 20, 20), pi * 40 / 180, (self.position, )),
+ DistanceSensorSensopart (link_bag.io.adc[2], scheduler, table,
+ (20 - 20, -20), -pi * 40 / 180, (self.position, )),
+ DistanceSensorSensopart (link_bag.io.adc[3], scheduler, table,
+ (-30 - 20, 0), pi, (self.position, )),
+ ]
+ link_bag.io.adc[4].value = 0
+ link_bag.io.adc[5].value = 0
+ self.path = link_bag.io.path
+
diff --git a/host/simu/robots/marcel/view/__init__.py b/host/simu/robots/marcel/view/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/marcel/view/__init__.py
diff --git a/host/simu/robots/marcel/view/bag.py b/host/simu/robots/marcel/view/bag.py
new file mode 100644
index 00000000..e8666749
--- /dev/null
+++ b/host/simu/robots/marcel/view/bag.py
@@ -0,0 +1,40 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""Marcel bag of views."""
+from simu.view.switch import Switch
+from simu.view.distance_sensor_us import DistanceSensorUS
+from simu.view.path import Path
+from simu.robots.marcel.view.robot import Robot
+
+class Bag:
+
+ def __init__ (self, table, actuator_view, sensor_frame, model_bag):
+ self.jack = Switch (sensor_frame, model_bag.jack, 'Jack')
+ self.color_switch = Switch (sensor_frame, model_bag.color_switch,
+ 'Color')
+ self.robot = Robot (table, model_bag.position)
+ self.distance_sensor = [DistanceSensorUS (self.robot, ds)
+ for ds in model_bag.distance_sensor]
+ self.path = Path (table, model_bag.path)
+
diff --git a/host/simu/robots/marcel/view/robot.py b/host/simu/robots/marcel/view/robot.py
new file mode 100644
index 00000000..181d348b
--- /dev/null
+++ b/host/simu/robots/marcel/view/robot.py
@@ -0,0 +1,62 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""Marcel robot view."""
+import simu.inter.drawable
+
+class Robot (simu.inter.drawable.Drawable):
+
+ def __init__ (self, onto, position_model):
+ """Construct and make connections."""
+ simu.inter.drawable.Drawable.__init__ (self, onto)
+ self.position_model = position_model
+ self.position_model.register (self.__position_notified)
+
+ def __position_notified (self):
+ """Called on position modifications."""
+ self.pos = self.position_model.pos
+ self.angle = self.position_model.angle
+ self.update ()
+
+ def draw (self):
+ """Draw the robot."""
+ self.reset ()
+ if self.pos is not None:
+ self.trans_rotate (self.angle)
+ self.trans_translate (self.pos)
+ # Draw robot body.
+ self.draw_polygon ((120, 155), (-95, 155), (-160, 90),
+ (-160, -90), (-95, -155), (120, -155))
+ # Draw Robot axis.
+ axes_fill = '#404040'
+ self.draw_line ((-150, 0), (150, 0), fill = axes_fill,
+ arrow = 'last')
+ # Draw Robot wheels.
+ f = 142 + 2 * 31.5 - 13.5 # Wheel spacing
+ wr = 63 / 2 # Wheel diameter
+ self.draw_line ((0, +f / 2), (0, -f / 2), fill = axes_fill)
+ self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = axes_fill)
+ self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = axes_fill)
+ # Extends.
+ simu.inter.drawable.Drawable.draw (self)
+