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-rw-r--r--host/simu/robots/guybrush/model/bag.py7
-rw-r--r--host/simu/robots/guybrush/model/clamps.py49
-rw-r--r--host/simu/robots/guybrush/view/bag.py3
-rw-r--r--host/simu/robots/guybrush/view/clamps.py60
4 files changed, 119 insertions, 0 deletions
diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py
index fda35ce0..6ff18194 100644
--- a/host/simu/robots/guybrush/model/bag.py
+++ b/host/simu/robots/guybrush/model/bag.py
@@ -25,6 +25,8 @@
from simu.model.switch import Switch
from simu.model.position import Position
from simu.model.distance_sensor_sensopart import DistanceSensorSensopart
+from simu.model.pneumatic_cylinder import PneumaticCylinder
+from simu.robots.guybrush.model.clamps import Clamps
from math import pi
import random
@@ -37,6 +39,11 @@ class Bag:
self.jack = Switch (link_bag.io_hub.contact[1], invert = True)
self.strat_switch = Switch (link_bag.io_hub.contact[2], invert = True)
self.position = Position (link_bag.asserv.position)
+ self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0],
+ (PneumaticCylinder (None, link_bag.io_hub.output[8],
+ scheduler, 0., 30., 150., 75., 30.),
+ PneumaticCylinder (None, link_bag.io_hub.output[9],
+ scheduler, 0., 30., 150., 75., 30.)))
self.distance_sensor = [
DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table,
(20, 20), pi * 10 / 180, (self.position, ), 2),
diff --git a/host/simu/robots/guybrush/model/clamps.py b/host/simu/robots/guybrush/model/clamps.py
new file mode 100644
index 00000000..e99401cd
--- /dev/null
+++ b/host/simu/robots/guybrush/model/clamps.py
@@ -0,0 +1,49 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2012 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.
+#
+# }}}
+"""Guybrush clamps."""
+from utils.observable import Observable
+
+class Clamps (Observable):
+
+ def __init__ (self, table, robot_position, lower_clamp_motor,
+ lower_clamp_cylinders):
+ Observable.__init__ (self)
+ self.table = table
+ self.robot_position = robot_position
+ self.lower_clamp_motor = lower_clamp_motor
+ self.lower_clamp_cylinders = lower_clamp_cylinders
+ self.lower_clamp_clamping = [ None, None ]
+ self.lower_clamp_motor.register (self.__lower_clamp_notified)
+ for c in self.lower_clamp_cylinders:
+ c.register (self.__lower_clamp_notified)
+
+ def __lower_clamp_notified (self):
+ self.lower_clamp_rotation = self.lower_clamp_motor.angle
+ for i, c in enumerate (self.lower_clamp_cylinders):
+ if c.pos is None:
+ self.lower_clamp_clamping[i] = None
+ else:
+ self.lower_clamp_clamping[i] = (1.0
+ - (c.pos - c.pos_in) / (c.pos_out - c.pos_in))
+ self.notify ()
diff --git a/host/simu/robots/guybrush/view/bag.py b/host/simu/robots/guybrush/view/bag.py
index 7af72be6..f512886a 100644
--- a/host/simu/robots/guybrush/view/bag.py
+++ b/host/simu/robots/guybrush/view/bag.py
@@ -27,6 +27,7 @@ from simu.view.distance_sensor_us import DistanceSensorUS
from simu.view.path import Path
from simu.view.pos_report import PosReport
from simu.robots.guybrush.view.robot import Robot
+from simu.robots.guybrush.view.clamps import ClampsSide
class Bag:
@@ -37,6 +38,8 @@ class Bag:
self.strat_switch = Switch (sensor_frame, model_bag.strat_switch,
'Strat')
self.robot = Robot (table, model_bag.position)
+ self.clamps = ClampsSide (actuator_view.add_view (ClampsSide.width,
+ ClampsSide.height), model_bag.clamps)
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/guybrush/view/clamps.py b/host/simu/robots/guybrush/view/clamps.py
new file mode 100644
index 00000000..11ef09b8
--- /dev/null
+++ b/host/simu/robots/guybrush/view/clamps.py
@@ -0,0 +1,60 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2012 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.
+#
+# }}}
+"""Guybrush clamps."""
+from simu.inter.drawable import Drawable
+from math import pi
+
+GREY = '#808080'
+BLACK = '#000000'
+
+class ClampsSide (Drawable):
+
+ width = 440
+ height = 350
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.update)
+
+ def draw (self):
+ self.reset ()
+ # Draw base from side.
+ self.trans_translate ((50, -150))
+ self.draw_line ((-93, 0), (130, 0), fill = GREY)
+ # Draw lower clamp.
+ if self.model.lower_clamp_rotation is not None:
+ self.trans_push ()
+ self.trans_translate ((-117, 84))
+ self.trans_rotate (-self.model.lower_clamp_rotation)
+ self.draw_polygon ((6, -45), (28, 45), (-6, 45), (-28, -45),
+ outline = BLACK, fill = GREY)
+ for i in (0, 1):
+ c = self.model.lower_clamp_clamping[i]
+ if c is not None:
+ self.draw_line ((7, -45), (7, -46 - c * 33),
+ (-28, -46 - c * 33))
+ if not i:
+ self.trans_rotate (pi)
+ self.trans_pop ()