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/robots/aquajim/model/bag.py | 6 +++++- host/simu/robots/aquajim/model/sorter.py | 4 +++- host/simu/robots/aquajim/view/elevator.py | 19 ++++++++++++++++++- 3 files changed, 26 insertions(+), 3 deletions(-) (limited to 'host/simu/robots/aquajim') diff --git a/host/simu/robots/aquajim/model/bag.py b/host/simu/robots/aquajim/model/bag.py index d8231e6b..6cbc52ef 100644 --- a/host/simu/robots/aquajim/model/bag.py +++ b/host/simu/robots/aquajim/model/bag.py @@ -24,6 +24,7 @@ """AquaJim bag of models.""" from simu.model.switch import Switch from simu.model.position import Position +from simu.model.motor_basic import MotorBasic from simu.model.distance_sensor_sharps import DistanceSensorSharps from simu.robots.aquajim.model.sorter import Sorter from math import pi @@ -34,8 +35,11 @@ class 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.elevator_door = MotorBasic (link_bag.io.pwm[0], scheduler, + 2 * pi, 0, pi / 2) self.sorter = Sorter (table, link_bag.asserv.aux[0], - link_bag.asserv.aux[1], link_bag.io.servo[0:2]) + link_bag.asserv.aux[1], link_bag.io.servo[0:2], + self.elevator_door) self.distance_sensor = [ DistanceSensorSharps (link_bag.io.adc[0], scheduler, table, (150, 150), 0, (self.position, )), diff --git a/host/simu/robots/aquajim/model/sorter.py b/host/simu/robots/aquajim/model/sorter.py index 56f1fc3e..5c4a013f 100644 --- a/host/simu/robots/aquajim/model/sorter.py +++ b/host/simu/robots/aquajim/model/sorter.py @@ -27,7 +27,8 @@ from math import pi class Sorter (Observable): - def __init__ (self, table, arm_motor_link, elevator_motor_link, servo_links): + def __init__ (self, table, arm_motor_link, elevator_motor_link, + servo_links, elevator_door_model): Observable.__init__ (self) self.table = table self.arm_motor_link = arm_motor_link @@ -37,6 +38,7 @@ class Sorter (Observable): self.elevator_motor_link.register (self.__elevator_motor_notified) self.__elevator_motor_notified () self.servo_links = servo_links + self.elevator_door = elevator_door_model def __arm_motor_notified (self): self.arm_angle = self.arm_motor_link.angle diff --git a/host/simu/robots/aquajim/view/elevator.py b/host/simu/robots/aquajim/view/elevator.py index 61c87e55..8c83ac5e 100644 --- a/host/simu/robots/aquajim/view/elevator.py +++ b/host/simu/robots/aquajim/view/elevator.py @@ -26,7 +26,7 @@ from simu.inter.drawable import Drawable class Elevator (Drawable): - width = 320 / 1.5 + width = 320 / 1.2 height = 320 def __init__ (self, onto, model): @@ -34,11 +34,24 @@ class Elevator (Drawable): self.model = model self.model.register (self.__notified) self.__notified () + self.door_model = model.elevator_door + self.door_model.register (self.__door_notified) + self.__door_notified () def __notified (self): self.height = self.model.elevator_height self.update () + def __door_notified (self): + m = self.door_model + if m.angle is None: + self.door_value = None + self.door_limit = None + else: + self.door_value = m.angle / (m.max_stop - m.min_stop) - m.min_stop + self.door_limit = self.door_model.limit + self.update () + def draw (self): self.reset () self.trans_translate ((-35, -150)) @@ -46,4 +59,8 @@ class Elevator (Drawable): if self.height is not None: self.trans_translate ((0, self.height)) self.draw_line ((0, 150), (0, 0), (70, 0)) + if self.door_value is not None: + self.trans_translate ((5 + self.door_value * 70, 0)) + self.draw_line ((0, 120), (0, 0), + fill = self.door_limit and 'red' or 'black') -- cgit v1.2.3