From 51b917f7994d6d53fde11263ba4da3470fd2a6c4 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 1 Jun 2011 15:26:22 +0200 Subject: digital/io-hub, host/simu: add codebar --- host/simu/robots/robospierre/model/bag.py | 2 +- host/simu/robots/robospierre/model/clamp.py | 15 +++++++++++---- 2 files changed, 12 insertions(+), 5 deletions(-) (limited to 'host/simu') diff --git a/host/simu/robots/robospierre/model/bag.py b/host/simu/robots/robospierre/model/bag.py index 284e5bb8..b9d3bc3f 100644 --- a/host/simu/robots/robospierre/model/bag.py +++ b/host/simu/robots/robospierre/model/bag.py @@ -44,7 +44,7 @@ class Bag: 8 * pi, 0, 0.5 * pi) for i in (0, 1, 3, 4) ] self.clamp = Clamp (table, self.position, link_bag.mimot.aux[0], link_bag.mimot.aux[1], self.clamping_motor, self.door_motors, - self.contact[0:7]) + self.contact[0:7], link_bag.io_hub.codebar) 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/robospierre/model/clamp.py b/host/simu/robots/robospierre/model/clamp.py index 0af4ccf3..dbcab5f2 100644 --- a/host/simu/robots/robospierre/model/clamp.py +++ b/host/simu/robots/robospierre/model/clamp.py @@ -30,13 +30,14 @@ from math import pi, cos, sin class Slot: """Slot which can contain a pawn.""" - def __init__ (self, x, y, z, side, door_motor, contact): + def __init__ (self, x, y, z, side, door_motor, contact, codebar = None): self.x = x self.y = y self.z = z self.side = side self.door_motor = door_motor self.contact = contact + self.codebar = codebar self.pawn = None class Clamp (Observable): @@ -62,7 +63,8 @@ class Clamp (Observable): SLOT_SIDE = 6 def __init__ (self, table, robot_position, elevation_motor, - rotation_motor, clamping_motor, door_motors, slot_contacts): + rotation_motor, clamping_motor, door_motors, slot_contacts, + codebars): Observable.__init__ (self) self.table = table self.robot_position = robot_position @@ -75,13 +77,13 @@ class Clamp (Observable): door_motors[2], None, door_motors[3], None) self.slots = ( Slot (self.BAY_OFFSET, 0, 0 * self.BAY_ZOFFSET, 0, - door_motors[0], slot_contacts[0]), + door_motors[0], slot_contacts[0], codebars[0]), Slot (self.BAY_OFFSET, 0, 1 * self.BAY_ZOFFSET, 0, None, slot_contacts[1]), Slot (self.BAY_OFFSET, 0, 2 * self.BAY_ZOFFSET, 0, door_motors[1], slot_contacts[2]), Slot (-self.BAY_OFFSET, 0, 0 * self.BAY_ZOFFSET, 1, - door_motors[2], slot_contacts[3]), + door_motors[2], slot_contacts[3], codebars[1]), Slot (-self.BAY_OFFSET, 0, 1 * self.BAY_ZOFFSET, 1, None, slot_contacts[4]), Slot (-self.BAY_OFFSET, 0, 2 * self.BAY_ZOFFSET, 1, @@ -203,6 +205,11 @@ class Clamp (Observable): and slots[0].pawn.kind == 'tower')) # This one is really high. slots[2].contact.state = not (slots[2].pawn is not None) + if slots[0].pawn: + slots[0].codebar.element_type = slots[0].pawn.kind + else: + slots[0].codebar.element_type = None + slots[0].codebar.notify () slot_side = self.slots[self.SLOT_SIDE] slot_side.contact.state = slot_side.pawn is None clamp_slot = self.__get_clamp_slot () -- cgit v1.2.3