From ed97e035bcb27ab8a1c1f91692728cd8f3f746fd Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 1 Apr 2010 23:56:57 +0200 Subject: host/simu/robots: add 2010 robot, closes #125 --- host/simu/robots/marcel/view/__init__.py | 0 host/simu/robots/marcel/view/bag.py | 40 +++++++++++++++++++++ host/simu/robots/marcel/view/robot.py | 62 ++++++++++++++++++++++++++++++++ 3 files changed, 102 insertions(+) create mode 100644 host/simu/robots/marcel/view/__init__.py create mode 100644 host/simu/robots/marcel/view/bag.py create mode 100644 host/simu/robots/marcel/view/robot.py (limited to 'host/simu/robots/marcel/view') diff --git a/host/simu/robots/marcel/view/__init__.py b/host/simu/robots/marcel/view/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/marcel/view/bag.py b/host/simu/robots/marcel/view/bag.py new file mode 100644 index 00000000..e8666749 --- /dev/null +++ b/host/simu/robots/marcel/view/bag.py @@ -0,0 +1,40 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2010 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. +# +# }}} +"""Marcel bag of views.""" +from simu.view.switch import Switch +from simu.view.distance_sensor_us import DistanceSensorUS +from simu.view.path import Path +from simu.robots.marcel.view.robot import Robot + +class Bag: + + def __init__ (self, table, actuator_view, sensor_frame, model_bag): + self.jack = Switch (sensor_frame, model_bag.jack, 'Jack') + self.color_switch = Switch (sensor_frame, model_bag.color_switch, + 'Color') + self.robot = Robot (table, model_bag.position) + self.distance_sensor = [DistanceSensorUS (self.robot, ds) + for ds in model_bag.distance_sensor] + self.path = Path (table, model_bag.path) + diff --git a/host/simu/robots/marcel/view/robot.py b/host/simu/robots/marcel/view/robot.py new file mode 100644 index 00000000..181d348b --- /dev/null +++ b/host/simu/robots/marcel/view/robot.py @@ -0,0 +1,62 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2010 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. +# +# }}} +"""Marcel robot view.""" +import simu.inter.drawable + +class Robot (simu.inter.drawable.Drawable): + + def __init__ (self, onto, position_model): + """Construct and make connections.""" + simu.inter.drawable.Drawable.__init__ (self, onto) + self.position_model = position_model + self.position_model.register (self.__position_notified) + + def __position_notified (self): + """Called on position modifications.""" + self.pos = self.position_model.pos + self.angle = self.position_model.angle + self.update () + + def draw (self): + """Draw the robot.""" + self.reset () + if self.pos is not None: + self.trans_rotate (self.angle) + self.trans_translate (self.pos) + # Draw robot body. + self.draw_polygon ((120, 155), (-95, 155), (-160, 90), + (-160, -90), (-95, -155), (120, -155)) + # Draw Robot axis. + axes_fill = '#404040' + self.draw_line ((-150, 0), (150, 0), fill = axes_fill, + arrow = 'last') + # Draw Robot wheels. + f = 142 + 2 * 31.5 - 13.5 # Wheel spacing + wr = 63 / 2 # Wheel diameter + self.draw_line ((0, +f / 2), (0, -f / 2), fill = axes_fill) + self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = axes_fill) + self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = axes_fill) + # Extends. + simu.inter.drawable.Drawable.draw (self) + -- cgit v1.2.3