From a3fdbecac564a600c65568cac0e02fc72604567e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 12 May 2011 23:42:26 +0200 Subject: digital/{ai,io-hub}, host/simu/robots/robospierre: add doors and element move --- host/simu/robots/robospierre/model/clamp.py | 28 +++++++++++++++++++--------- 1 file changed, 19 insertions(+), 9 deletions(-) (limited to 'host/simu/robots/robospierre/model/clamp.py') diff --git a/host/simu/robots/robospierre/model/clamp.py b/host/simu/robots/robospierre/model/clamp.py index ff27a7ea..9bb8bacc 100644 --- a/host/simu/robots/robospierre/model/clamp.py +++ b/host/simu/robots/robospierre/model/clamp.py @@ -29,12 +29,13 @@ from math import pi, cos, sin class Slot: """Slot which can contain a pawn.""" - def __init__ (self, x, y, z, side): + def __init__ (self, x, y, z, side, door_motor): self.x = x self.y = y self.z = z self.side = side self.pawn = None + self.door_motor = door_motor class Clamp (Observable): @@ -59,21 +60,30 @@ class Clamp (Observable): SLOT_SIDE = 6 def __init__ (self, table, robot_position, elevation_motor, - rotation_motor, clamping_motor): + rotation_motor, clamping_motor, door_motors): Observable.__init__ (self) self.table = table self.robot_position = robot_position self.elevation_motor = elevation_motor self.rotation_motor = rotation_motor self.clamping_motor = clamping_motor + self.door_motors = (door_motors[0], None, door_motors[1], + door_motors[2], None, door_motors[3], None) self.slots = ( - Slot (self.BAY_OFFSET, 0, 0 * self.BAY_ZOFFSET, 0), - Slot (self.BAY_OFFSET, 0, 1 * self.BAY_ZOFFSET, 0), - Slot (self.BAY_OFFSET, 0, 2 * self.BAY_ZOFFSET, 0), - Slot (-self.BAY_OFFSET, 0, 0 * self.BAY_ZOFFSET, 1), - Slot (-self.BAY_OFFSET, 0, 1 * self.BAY_ZOFFSET, 1), - Slot (-self.BAY_OFFSET, 0, 2 * self.BAY_ZOFFSET, 1), - Slot (0, self.BAY_OFFSET, 2 * self.BAY_ZOFFSET, None)) + Slot (self.BAY_OFFSET, 0, 0 * self.BAY_ZOFFSET, 0, + door_motors[0]), + Slot (self.BAY_OFFSET, 0, 1 * self.BAY_ZOFFSET, 0, + None), + Slot (self.BAY_OFFSET, 0, 2 * self.BAY_ZOFFSET, 0, + door_motors[1]), + Slot (-self.BAY_OFFSET, 0, 0 * self.BAY_ZOFFSET, 1, + door_motors[2]), + Slot (-self.BAY_OFFSET, 0, 1 * self.BAY_ZOFFSET, 1, + None), + Slot (-self.BAY_OFFSET, 0, 2 * self.BAY_ZOFFSET, 1, + door_motors[3]), + Slot (0, self.BAY_OFFSET, 2 * self.BAY_ZOFFSET, None, + None)) self.load = None self.robot_position.register (self.__robot_position_notified) self.elevation_motor.register (self.__elevation_notified) -- cgit v1.2.3