From 69305ae1ed6da084b6ee65dba3ce44f0d6cbe2d1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 30 Apr 2009 09:53:44 +0200 Subject: * host/simu, digital/io/tools: - new simulation infrastructure. --- host/simu/robots/giboulee/view/sorter.py | 61 ++++++++++++++++++++++++++++++++ 1 file changed, 61 insertions(+) create mode 100644 host/simu/robots/giboulee/view/sorter.py (limited to 'host/simu/robots/giboulee/view/sorter.py') diff --git a/host/simu/robots/giboulee/view/sorter.py b/host/simu/robots/giboulee/view/sorter.py new file mode 100644 index 00000000..a0e09197 --- /dev/null +++ b/host/simu/robots/giboulee/view/sorter.py @@ -0,0 +1,61 @@ +# 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. +# +# }}} +"""Giboulee balls sorter.""" +from simu.inter.drawable import Drawable +from simu.view.servo import Servo +from math import pi + +class Sorter (Drawable): + + width = 1 + height = 1 + + def __init__ (self, onto, sorter_model): + Drawable.__init__ (self, onto) + self.traps = [ + Servo (self, sorter_model.traps[0], + (-2.5, -1), 0.8, 0, pi/2), + Servo (self, sorter_model.traps[1], + (-1.5, -0.9), 0.8, 0, pi/2), + Servo (self, sorter_model.traps[2], + (-0.5, -0.8), 0.8, 0, pi/2), + Servo (self, sorter_model.traps[3], + (0.5, -0.8), 0.8, pi, -pi/2), + Servo (self, sorter_model.traps[4], + (1.5, -0.9), 0.8, pi, -pi/2), + ] + self.door = Servo (self, sorter_model.door, + (-2.5, 1.3), 0.8, -pi/6, pi/3), + + def draw (self): + self.reset () + self.trans_scale (0.9/5) + self.draw_line ((-0.5, 1.5), (-0.5, 0.5), (-2.5, 0.2), + fill = '#808080') + self.draw_line ((-2.5, -1.2), (-2.5, -2.3), (2.5, -2.3), (2.5, 0.2), + (0.5, 0.5), (0.5, 1.5), fill = '#808080') + for i in (-1.5, -0.5, 0.5, 1.5): + self.draw_line ((i, -2.3), (i, -2), fill = '#808080') + Drawable.draw (self) + -- cgit v1.2.3