From c3f8b56ef5a44d0569566497b2a24550842c7512 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 6 May 2011 23:51:45 +0200 Subject: digital/{ai,io}: move simu test script --- digital/ai/tools/robospierre.py | 39 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 39 insertions(+) create mode 100644 digital/ai/tools/robospierre.py (limited to 'digital/ai/tools/robospierre.py') diff --git a/digital/ai/tools/robospierre.py b/digital/ai/tools/robospierre.py new file mode 100644 index 00000000..23fb19a3 --- /dev/null +++ b/digital/ai/tools/robospierre.py @@ -0,0 +1,39 @@ +import simu.model.table_eurobot2011 +import simu.view.table_eurobot2011 + +import simu.robots.robospierre.link.bag +import simu.robots.robospierre.model.bag +import simu.robots.robospierre.view.bag + +import asserv +import asserv.init +import mimot +import mimot.init +import io +import io.init + +from proto.popen_io import PopenIO +import math + +class Robot: + + def __init__ (self, proto_time): + self.table_model = simu.model.table_eurobot2011 + self.table_view = simu.view.table_eurobot2011 + self.robot_link = simu.robots.robospierre.link.bag + self.robot_model = simu.robots.robospierre.model.bag + self.robot_view = simu.robots.robospierre.view.bag + asserv_cmd = ('../../asserv/src/asserv/asserv.host', '-m9', 'marcel') + mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel') + io_cmd = ('../../io/src/io.host') + self.asserv = asserv.Proto (PopenIO (asserv_cmd), proto_time, + **asserv.init.host) + self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time, + **mimot.init.host) + self.io = io.Proto (PopenIO (io_cmd), proto_time, + **io.init.host) + self.robot_start_pos = { + False: (700, 2100 - 250, math.radians (-270)), + True: (3000 - 700, 2100 - 250, math.radians (-270)) + } + -- cgit v1.2.3