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/__init__.py | 0 host/simu/robots/aquajim/model/bag.py | 52 ++++++++++++++++++++++++++++++ host/simu/robots/aquajim/model/sorter.py | 51 +++++++++++++++++++++++++++++ 3 files changed, 103 insertions(+) create mode 100644 host/simu/robots/aquajim/model/__init__.py create mode 100644 host/simu/robots/aquajim/model/bag.py create mode 100644 host/simu/robots/aquajim/model/sorter.py (limited to 'host/simu/robots/aquajim/model') diff --git a/host/simu/robots/aquajim/model/__init__.py b/host/simu/robots/aquajim/model/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/aquajim/model/bag.py b/host/simu/robots/aquajim/model/bag.py new file mode 100644 index 00000000..d8231e6b --- /dev/null +++ b/host/simu/robots/aquajim/model/bag.py @@ -0,0 +1,52 @@ +# 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 bag of models.""" +from simu.model.switch import Switch +from simu.model.position import Position +from simu.model.distance_sensor_sharps import DistanceSensorSharps +from simu.robots.aquajim.model.sorter import Sorter +from math import pi + +class Bag: + + def __init__ (self, scheduler, table, link_bag): + self.jack = Switch (link_bag.io.jack) + self.color_switch = Switch (link_bag.io.color_switch) + self.position = Position (link_bag.asserv.position) + self.sorter = Sorter (table, link_bag.asserv.aux[0], + link_bag.asserv.aux[1], link_bag.io.servo[0:2]) + self.distance_sensor = [ + DistanceSensorSharps (link_bag.io.adc[0], scheduler, table, + (150, 150), 0, (self.position, )), + DistanceSensorSharps (link_bag.io.adc[1], scheduler, table, + (150, 0), 0, (self.position, )), + DistanceSensorSharps (link_bag.io.adc[2], scheduler, table, + (150, -150), 0, (self.position, )), + DistanceSensorSharps (link_bag.io.adc[3], scheduler, table, + (-150, 100), pi, (self.position, )), + DistanceSensorSharps (link_bag.io.adc[4], scheduler, table, + (-150, -100), pi, (self.position, )), + ] + self.path = link_bag.io.path + 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