From 4909f63bea2598489a5895f9bbe1e2622093caa1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 30 Apr 2011 20:45:16 +0200 Subject: digital/io/tools, host/simu: add robospierre --- host/simu/robots/robospierre/model/__init__.py | 0 host/simu/robots/robospierre/model/bag.py | 57 ++++++++ host/simu/robots/robospierre/model/clamp.py | 172 +++++++++++++++++++++++++ 3 files changed, 229 insertions(+) create mode 100644 host/simu/robots/robospierre/model/__init__.py create mode 100644 host/simu/robots/robospierre/model/bag.py create mode 100644 host/simu/robots/robospierre/model/clamp.py (limited to 'host/simu/robots/robospierre/model') diff --git a/host/simu/robots/robospierre/model/__init__.py b/host/simu/robots/robospierre/model/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/robospierre/model/bag.py b/host/simu/robots/robospierre/model/bag.py new file mode 100644 index 00000000..e6810e18 --- /dev/null +++ b/host/simu/robots/robospierre/model/bag.py @@ -0,0 +1,57 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2011 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. +# +# }}} +"""Robospierre bag of models.""" +from simu.model.switch import Switch +from simu.model.position import Position +from simu.model.motor_basic import MotorBasic +from simu.model.distance_sensor_sensopart import DistanceSensorSensopart +from simu.robots.robospierre.model.clamp import Clamp +from math import pi + +class Bag: + + def __init__ (self, scheduler, table, link_bag): + self.jack = Switch (link_bag.io.jack) + self.color_switch = Switch (link_bag.io.color_switch) + self.contact = [ Switch (contact) for contact in link_bag.io.contact ] + self.position = Position (link_bag.asserv.position) + self.clamping_motor = MotorBasic (link_bag.io.pwm[0], scheduler, + 2 * pi, 0, pi) + self.clamp = Clamp (table, self.position, link_bag.mimot.aux[0], + link_bag.mimot.aux[1], self.clamping_motor) + self.distance_sensor = [ + DistanceSensorSensopart (link_bag.io.adc[0], scheduler, table, + (20, -20), -pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io.adc[1], scheduler, table, + (20, 20), pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io.adc[2], scheduler, table, + (-20, 20), pi - pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io.adc[3], scheduler, table, + (-20, -20), pi + pi * 10 / 180, (self.position, ), 2), + ] + link_bag.io.adc[4].value = 0 + link_bag.io.adc[5].value = 0 + self.path = link_bag.io.path + self.pos_report = link_bag.io.pos_report + diff --git a/host/simu/robots/robospierre/model/clamp.py b/host/simu/robots/robospierre/model/clamp.py new file mode 100644 index 00000000..ff27a7ea --- /dev/null +++ b/host/simu/robots/robospierre/model/clamp.py @@ -0,0 +1,172 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2011 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. +# +# }}} +"""Robospierre clamp.""" +from utils.observable import Observable +from simu.utils.trans_matrix import TransMatrix +from math import pi, cos, sin + +class Slot: + """Slot which can contain a pawn.""" + + def __init__ (self, x, y, z, side): + self.x = x + self.y = y + self.z = z + self.side = side + self.pawn = None + +class Clamp (Observable): + + ELEVATION_STROKE = 120.0 + ELEVATION_MOTOR_STROKE = 120.0 * 5.0 / 6.0 + + ROTATION_STROKE = pi + ROTATION_MOTOR_STROKE = pi * 115.0 / 12.0 + + CLAMPING_STROKE = 10 + CLAMPING_MOTOR_STROKE = pi + + BAY_OFFSET = 150 + BAY_ZOFFSET = 60 + + SLOT_FRONT_BOTTOM = 0 + SLOT_FRONT_MIDDLE = 1 + SLOT_FRONT_TOP = 2 + SLOT_BACK_BOTTOM = 3 + SLOT_BACK_MIDDLE = 4 + SLOT_BACK_TOP = 5 + SLOT_SIDE = 6 + + def __init__ (self, table, robot_position, elevation_motor, + rotation_motor, clamping_motor): + 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.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)) + self.load = None + self.robot_position.register (self.__robot_position_notified) + self.elevation_motor.register (self.__elevation_notified) + self.rotation_motor.register (self.__rotation_notified) + self.clamping_motor.register (self.__clamping_notified) + + def __robot_position_notified (self): + # Update bottom slots. + changed = False + for sloti in (self.SLOT_FRONT_BOTTOM, self.SLOT_BACK_BOTTOM): + slot = self.slots[sloti] + if slot.pawn is None: + p = self.__get_floor_elements (slot.side) + if p is not None: + slot.pawn = p + p.pos = None + p.notify () + changed = True + if changed: + self.notify () + + def __elevation_notified (self): + if self.elevation_motor.angle is None: + self.elevation = None + else: + # Update elevation. + self.elevation = (self.elevation_motor.angle + * self.ELEVATION_STROKE / self.ELEVATION_MOTOR_STROKE) + self.notify () + + def __rotation_notified (self): + if self.rotation_motor.angle is None: + self.rotation = None + else: + # Update rotation. + self.rotation = (self.rotation_motor.angle * self.ROTATION_STROKE + / self.ROTATION_MOTOR_STROKE) + self.notify () + + def __clamping_notified (self): + if self.clamping_motor.angle is None: + self.clamping = None + else: + # Update clamping. + self.clamping = (self.clamping_motor.angle * self.CLAMPING_STROKE + / self.CLAMPING_MOTOR_STROKE) + if self.clamping == 0 and self.load is None: + # Load an element. + slot = self.__get_clamp_slot () + if slot: + self.load, slot.pawn = slot.pawn, self.load + elif self.clamping == self.CLAMPING_STROKE \ + and self.load is not None: + # Unload an element. + slot = self.__get_clamp_slot () + if slot and slot.pawn is None: + self.load, slot.pawn = slot.pawn, self.load + self.notify () + + def __get_floor_elements (self, side): + """Return an elements in front (side = 0) or in back (side = 1) of the + robot, on the floor.""" + if self.robot_position.pos is None: + return None + # Matrix to transform an obstacle position into robot coordinates. + m = TransMatrix () + m.rotate (-self.robot_position.angle) + m.translate ((-self.robot_position.pos[0], + -self.robot_position.pos[1])) + # Look up elements. + xoffset = (self.BAY_OFFSET, -self.BAY_OFFSET)[side] + xmargin = 20 + ymargin = 50 + for o in self.table.obstacles: + if o.level == 1 and o.pos is not None: + pos = m.apply (o.pos) + if (pos[0] > xoffset - xmargin + and pos[0] < xoffset + xmargin + and pos[1] > -ymargin and pos[1] < ymargin): + return o + return None + + def __get_clamp_slot (self): + """Return the slot in which the clamp is.""" + if self.rotation is None or self.elevation is None: + return None + margin = 10 + x = cos (self.rotation) * self.BAY_OFFSET + y = sin (self.rotation) * self.BAY_OFFSET + for slot in self.slots: + if abs (slot.z - self.elevation) < margin \ + and abs (slot.x - x) < margin \ + and abs (slot.y - y) < margin: + return slot + return None + -- cgit v1.2.3