From 4909f63bea2598489a5895f9bbe1e2622093caa1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 30 Apr 2011 20:45:16 +0200 Subject: digital/io/tools, host/simu: add robospierre --- digital/io/tools/test_simu_control.py | 108 ---------------------------------- 1 file changed, 108 deletions(-) delete mode 100644 digital/io/tools/test_simu_control.py (limited to 'digital/io/tools/test_simu_control.py') diff --git a/digital/io/tools/test_simu_control.py b/digital/io/tools/test_simu_control.py deleted file mode 100644 index 2a43b7bb..00000000 --- a/digital/io/tools/test_simu_control.py +++ /dev/null @@ -1,108 +0,0 @@ -# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ -# -# Copyright (C) 2009 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): - TestSimu.__init__ (self, robot_class) - - 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') - self.clamp_var = IntVar () - self.clamp_button = Checkbutton (self.control_frame, text = 'Clamp', - indicatoron = False, - variable = self.clamp_var, command = self.clamp_command) - self.clamp_button.pack () - self.elevator_var = IntVar () - self.elevator_button = Checkbutton (self.control_frame, - text = 'Elevator', indicatoron = False, - variable = self.elevator_var, command = self.elevator_command) - self.elevator_button.pack () - self.gate_var = IntVar () - self.gate_button = Checkbutton (self.control_frame, - text = 'Gate', indicatoron = False, - variable = self.gate_var, command = self.gate_command) - self.gate_button.pack () - self.loader_up_button = Button (self.control_frame, - text = 'Loader up', padx = 0, pady = 0, - command = self.loader_up_command) - self.loader_up_button.pack () - self.loader_down_button = Button (self.control_frame, - text = 'Loader down', padx = 0, pady = 0, - command = self.loader_down_command) - self.loader_down_button.pack () - self.table_view.bind ('<1>', self.move) - self.table_view.bind ('<3>', self.orient) - - def move (self, ev): - pos = self.table_view.screen_coord ((ev.x, ev.y)) - self.asserv.goto (pos[0], pos[1]) - - 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) - - def clamp_command (self): - if self.clamp_var.get (): - self.mimot.clamp ('a0', 0x60, 0x100) - self.mimot.clamp ('a1', 0x60, 0x100) - else: - self.mimot.goto_pos ('a0', 0) - self.mimot.goto_pos ('a1', 0) - - def elevator_command (self): - if self.elevator_var.get (): - pos = 7089 - else: - pos = 0 - self.asserv.goto_pos ('a0', pos) - - def gate_command (self): - if self.gate_var.get (): - pos = -0x1d6b - else: - pos = 0 - self.asserv.goto_pos ('a1', pos) - - def loader_up_command (self): - self.io.loader ('u') - - def loader_down_command (self): - self.io.loader ('d') - - def change_color (self, *dummy): - pass - -if __name__ == '__main__': - run ('marcel', TestSimuControl) -- cgit v1.2.3