From 346abb99346ae7b94d0b2a49cc32f0363aed6018 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 3 May 2009 00:19:46 +0200 Subject: * host/simu: - added AquaJim. --- host/simu/robots/aquajim/model/sorter.py | 51 ++++++++++++++++++++++++++++++++ 1 file changed, 51 insertions(+) create mode 100644 host/simu/robots/aquajim/model/sorter.py (limited to 'host/simu/robots/aquajim/model/sorter.py') diff --git a/host/simu/robots/aquajim/model/sorter.py b/host/simu/robots/aquajim/model/sorter.py new file mode 100644 index 00000000..56f1fc3e --- /dev/null +++ b/host/simu/robots/aquajim/model/sorter.py @@ -0,0 +1,51 @@ +# 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. +# +# }}} +"""AquaJim pucks sorter.""" +from utils.observable import Observable +from math import pi + +class Sorter (Observable): + + def __init__ (self, table, arm_motor_link, elevator_motor_link, servo_links): + Observable.__init__ (self) + self.table = table + self.arm_motor_link = arm_motor_link + self.arm_motor_link.register (self.__arm_motor_notified) + self.__arm_motor_notified () + self.elevator_motor_link = elevator_motor_link + self.elevator_motor_link.register (self.__elevator_motor_notified) + self.__elevator_motor_notified () + self.servo_links = servo_links + + def __arm_motor_notified (self): + self.arm_angle = self.arm_motor_link.angle + self.notify () + + def __elevator_motor_notified (self): + if self.elevator_motor_link.angle is None: + self.elevator_height = None + else: + self.elevator_height = 150 - self.elevator_motor_link.angle * 5.5 + self.notify () + -- cgit v1.2.3