From ecdce887d87139db2e869e72918b4b5be8da5e67 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 30 Apr 2011 15:19:57 +0200 Subject: digital/io/tools: move robot specific code to separated file --- digital/io/tools/marcel.py | 39 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 39 insertions(+) create mode 100644 digital/io/tools/marcel.py (limited to 'digital/io/tools/marcel.py') diff --git a/digital/io/tools/marcel.py b/digital/io/tools/marcel.py new file mode 100644 index 00000000..8453dc75 --- /dev/null +++ b/digital/io/tools/marcel.py @@ -0,0 +1,39 @@ +import simu.model.table_eurobot2010 +import simu.view.table_eurobot2010 + +import simu.robots.marcel.link.bag +import simu.robots.marcel.model.bag +import simu.robots.marcel.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_eurobot2010 + self.table_view = simu.view.table_eurobot2010 + self.robot_link = simu.robots.marcel.link.bag + self.robot_model = simu.robots.marcel.model.bag + self.robot_view = simu.robots.marcel.view.bag + asserv_cmd = ('../../asserv/src/asserv/asserv.host', '-m9', 'marcel') + mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel') + io_cmd = ('../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: (300, 2100 - 305, math.radians (-270)), + True: (3000 - 300, 2100 - 305, math.radians (-270)) + } + -- cgit v1.2.3