From 05c638f85ece1a0479dc4b2771b91878c18f2750 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 20 Mar 2013 21:03:42 +0100 Subject: digital/ai/tools: add APBirthday control simu script --- digital/ai/tools/test_simu_control_apbirthday.py | 79 ++++++++++++++++++++++++ 1 file changed, 79 insertions(+) create mode 100644 digital/ai/tools/test_simu_control_apbirthday.py (limited to 'digital/ai/tools/test_simu_control_apbirthday.py') diff --git a/digital/ai/tools/test_simu_control_apbirthday.py b/digital/ai/tools/test_simu_control_apbirthday.py new file mode 100644 index 00000000..e60951ef --- /dev/null +++ b/digital/ai/tools/test_simu_control_apbirthday.py @@ -0,0 +1,79 @@ +# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ +# +# Copyright (C) 2013 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. +# +# }}} +from test_simu import TestSimu, run +from Tkinter import * +import math + +class TestSimuControl (TestSimu): + """Interface with extra control.""" + + def __init__ (self, robot_class, *args): + TestSimu.__init__ (self, robot_class, *args, + color_switch_set_pos = True) + self.io = self.robots[0].io + self.asserv = self.robots[0].asserv + self.robot_model = self.robots[0].model + + def create_widgets (self): + TestSimu.create_widgets (self) + self.control_frame = Frame (self) + self.control_frame.pack (side = 'left', before = self.table_view, + fill = 'y') + Button (self.control_frame, text = 'FSM step', padx = 0, pady = 0, + command = self.fsm_debug).pack () + Button (self.control_frame, text = 'Asserv block', padx = 0, pady = 0, + command = self.asserv_block).pack () + self.backward_var = IntVar () + self.backward_button = Checkbutton (self.control_frame, + text = 'Backward', variable = self.backward_var) + self.backward_button.pack () + self.goto_var = IntVar () + self.goto_button = Checkbutton (self.control_frame, + text = 'Goto FSM', variable = self.goto_var) + self.goto_button.pack () + self.table_view.bind ('<1>', self.move) + self.table_view.bind ('<3>', self.orient) + + def fsm_debug (self): + self.io.fsm_debug () + + def asserv_block (self): + self.asserv.block () + + def move (self, ev): + pos = self.table_view.screen_coord ((ev.x, ev.y)) + if self.goto_var.get (): + self.io.goto (pos[0], pos[1], self.backward_var.get ()) + else: + self.asserv.goto (pos[0], pos[1], self.backward_var.get ()) + + def orient (self, ev): + x, y = self.table_view.screen_coord ((ev.x, ev.y)) + robot_pos = self.robot_model.position.pos + if robot_pos is not None: + a = math.atan2 (y - robot_pos[1], x - robot_pos[0]) + self.asserv.goto_angle (a) + +if __name__ == '__main__': + run ('apbirthday', TestSimuControl) -- cgit v1.2.3