From b2eeb382f494eea1c96656cc8a9e6719a6294d8f Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 30 Mar 2012 00:08:05 +0200 Subject: host/simu/robots/guybrush: add lower clamp --- host/simu/robots/guybrush/model/bag.py | 7 +++++ host/simu/robots/guybrush/model/clamps.py | 49 +++++++++++++++++++++++++++++++ 2 files changed, 56 insertions(+) create mode 100644 host/simu/robots/guybrush/model/clamps.py (limited to 'host/simu/robots/guybrush/model') diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py index fda35ce0..6ff18194 100644 --- a/host/simu/robots/guybrush/model/bag.py +++ b/host/simu/robots/guybrush/model/bag.py @@ -25,6 +25,8 @@ from simu.model.switch import Switch from simu.model.position import Position from simu.model.distance_sensor_sensopart import DistanceSensorSensopart +from simu.model.pneumatic_cylinder import PneumaticCylinder +from simu.robots.guybrush.model.clamps import Clamps from math import pi import random @@ -37,6 +39,11 @@ class Bag: self.jack = Switch (link_bag.io_hub.contact[1], invert = True) self.strat_switch = Switch (link_bag.io_hub.contact[2], invert = True) self.position = Position (link_bag.asserv.position) + self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0], + (PneumaticCylinder (None, link_bag.io_hub.output[8], + scheduler, 0., 30., 150., 75., 30.), + PneumaticCylinder (None, link_bag.io_hub.output[9], + scheduler, 0., 30., 150., 75., 30.))) self.distance_sensor = [ DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table, (20, 20), pi * 10 / 180, (self.position, ), 2), diff --git a/host/simu/robots/guybrush/model/clamps.py b/host/simu/robots/guybrush/model/clamps.py new file mode 100644 index 00000000..e99401cd --- /dev/null +++ b/host/simu/robots/guybrush/model/clamps.py @@ -0,0 +1,49 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2012 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. +# +# }}} +"""Guybrush clamps.""" +from utils.observable import Observable + +class Clamps (Observable): + + def __init__ (self, table, robot_position, lower_clamp_motor, + lower_clamp_cylinders): + Observable.__init__ (self) + self.table = table + self.robot_position = robot_position + self.lower_clamp_motor = lower_clamp_motor + self.lower_clamp_cylinders = lower_clamp_cylinders + self.lower_clamp_clamping = [ None, None ] + self.lower_clamp_motor.register (self.__lower_clamp_notified) + for c in self.lower_clamp_cylinders: + c.register (self.__lower_clamp_notified) + + def __lower_clamp_notified (self): + self.lower_clamp_rotation = self.lower_clamp_motor.angle + for i, c in enumerate (self.lower_clamp_cylinders): + if c.pos is None: + self.lower_clamp_clamping[i] = None + else: + self.lower_clamp_clamping[i] = (1.0 + - (c.pos - c.pos_in) / (c.pos_out - c.pos_in)) + self.notify () -- cgit v1.2.3