From eb2c866a65980de8c7447a72d91d9dea7d36ffbf Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 5 May 2009 08:27:34 +0200 Subject: * host/simu: - added elevator doors. --- host/simu/model/motor_basic.py | 75 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 75 insertions(+) create mode 100644 host/simu/model/motor_basic.py (limited to 'host/simu/model') diff --git a/host/simu/model/motor_basic.py b/host/simu/model/motor_basic.py new file mode 100644 index 00000000..e22a72c2 --- /dev/null +++ b/host/simu/model/motor_basic.py @@ -0,0 +1,75 @@ +# simu - Robot simulation. {{{ +# +# 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. +# +# }}} +"""Very basic motor model.""" +from utils.observable import Observable + +class MotorBasic (Observable): + + def __init__ (self, link, scheduler, + speed, min_stop = None, max_stop = None): + """Motor parameters: + - speed: rad/s for a 1.0 value. + - min_stop, max_stop: rad, mechanical stops.""" + Observable.__init__ (self) + self.scheduler = scheduler + self.speed = speed + self.min_stop = min_stop + self.max_stop = max_stop + self.angle = 0 + self.link = link + self.link.register (self.__notified) + self.value = None + self.last_update = self.scheduler.date + self.__notified () + self.__timed_update () + + def __notified (self): + # Update angle. + self.__update () + # Update value. + self.value = self.link.value + self.notify () + + def __timed_update (self): + # Update angle, reset limit. + self.limit = False + self.__update () + self.notify () + # Restart timer. + self.scheduler.schedule (self.scheduler.date + + int (self.scheduler.tick * 0.1), self.__timed_update) + + def __update (self): + delta_t = (float (self.scheduler.date - self.last_update) / + self.scheduler.tick) + v = self.value or 0 + self.angle += v * self.speed * delta_t + self.last_update = self.scheduler.date + if self.angle < self.min_stop: + self.angle = self.min_stop + self.limit = True + elif self.angle > self.max_stop: + self.angle = self.max_stop + self.limit = True + -- cgit v1.2.3