From 06037accc5049c1f55c287e582cdc6a74a4e06c6 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 7 Apr 2012 18:47:31 +0200 Subject: host/simu/robots/guybrush: add upper clamp simulation --- host/simu/robots/guybrush/view/clamps.py | 33 +++++++++++++++++++++++- host/simu/robots/guybrush/view/robot.py | 43 ++++++++++++++++++++++++++++++-- 2 files changed, 73 insertions(+), 3 deletions(-) (limited to 'host/simu/robots/guybrush/view') diff --git a/host/simu/robots/guybrush/view/clamps.py b/host/simu/robots/guybrush/view/clamps.py index bdcb08a4..25d3f107 100644 --- a/host/simu/robots/guybrush/view/clamps.py +++ b/host/simu/robots/guybrush/view/clamps.py @@ -23,7 +23,8 @@ # }}} """Guybrush clamps.""" from simu.inter.drawable import Drawable -from math import pi +from math import pi, cos, sin, radians +from simu.view.table_eurobot2012 import YELLOW GREY = '#808080' BLACK = '#000000' @@ -63,3 +64,33 @@ class ClampsSide (Drawable): if not i: self.trans_rotate (pi) self.trans_pop () + # Draw upper clamp. + ud = self.model.upper_clamp_up_down + c = self.model.upper_clamp_clamping + io = self.model.upper_clamp_in_out + if (ud is not None and c is not None and io is not None): + self.trans_push () + # Approximation: map cylinder extension to angle. + a = radians (ud * 75 + 87) + x = 40 + 188 * cos (a) + y = 75 + 188 * sin (a) + self.trans_translate ((x, y)) + self.trans_rotate ((1 - ud) * 0.5 * pi) + self.draw_line ((0, 56), (0, -25), fill = GREY) + # Draw level 2 clamp. + for e, y, in self.model.upper_clamp_content: + if e.level == 2: + self.draw_polygon ((-15, -15), (-15 - 70, -15), + (-15 - 13 - 44, -15 + 48.5), + (-15 - 13, -15 + 48.8), fill = YELLOW, + outline = BLACK) + break + self.draw_line ((-15, -10 + c * 5), (-15 - 70, -10 + c * 5)) + # Draw level 3 clamp. + for e, y in self.model.upper_clamp_content: + if e.level == 3: + self.draw_rectangle ((-12 * io - e.radius * 2, 54), + (-12 * io, 50), fill = GREY) + self.draw_line ((-12 * io - 35, 55), (-12 * io, 55), + (-12 * io, 55 - c * 33), (-12 * io - 35, 55 - c * 33)) + self.trans_pop () diff --git a/host/simu/robots/guybrush/view/robot.py b/host/simu/robots/guybrush/view/robot.py index 79c61d15..a7377a66 100644 --- a/host/simu/robots/guybrush/view/robot.py +++ b/host/simu/robots/guybrush/view/robot.py @@ -23,12 +23,14 @@ # }}} """Guybrush robot view.""" import simu.inter.drawable -from math import pi, cos -from simu.view.table_eurobot2012 import WHITE, BLACK +from math import pi, cos, sin, radians +from simu.view.table_eurobot2012 import WHITE, BLACK, YELLOW COLOR_ROBOT = '#000000' COLOR_AXES = '#202040' +GREY = '#808080' + class Robot (simu.inter.drawable.Drawable): def __init__ (self, onto, position_model, clamps_model): @@ -62,6 +64,43 @@ class Robot (simu.inter.drawable.Drawable): self.draw_oval ((x, y), sx * e.radius, e.radius, fill = color) sx = - sx + # Draw upper clamps. + ud = self.clamps_model.upper_clamp_up_down + c = self.clamps_model.upper_clamp_clamping + io = self.clamps_model.upper_clamp_in_out + if (ud is not None and c is not None and io is not None + and ud > 0.1): + self.trans_push () + # Approximation: map cylinder extension to angle. + cx = -cos (radians (ud * 75 + 87)) + x = -40 + 188 * cx + self.trans_translate ((x, 0)) + # Draw level 2 clamp. + for e, y, in self.clamps_model.upper_clamp_content: + if e.level == 2: + self.draw_rectangle ((15 * cx, 75), (85 * cx, -75), + fill = YELLOW) + self.draw_rectangle ((28 * cx, 62), (72 * cx, -62), + fill = YELLOW) + break + self.draw_line ((15 * cx, 80 - c * 10), (85 * cx, 80 - c * 10)) + self.draw_line ((15 * cx, -80 + c * 10), (85 * cx, -80 + c * 10)) + # Draw level 3 clamp. + for side in (1, -1): + a = side * -0.61 * (1 - io) + rx, ry = cos (a), sin (a) + for e, y in self.clamps_model.upper_clamp_content: + if e.level == 3 and y * side > 0: + color = WHITE if e.value else BLACK + y = 80 - y * side + self.draw_oval ((rx * 72 + ry * y, ry * 72 + rx * y + side * 80), + e.radius * cx, e.radius, fill = color) + self.trans_push () + self.trans_translate ((0, side * 80)) + self.trans_rotate (a) + self.draw_rectangle ((12, -4 * side), (12 + 35, 43 * side), fill = GREY) + self.trans_pop () + self.trans_pop () # Draw robot body. self.draw_polygon ((150, 171.5), (-80, 171.5), (-130, 121.5), (-130, -121.5), (-80, -171.5), (150, -171.5), -- cgit v1.2.3