From b205ee5bcb6adacf9b23448bf17ee0ff8bd16ae3 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 26 Mar 2012 01:01:02 +0200 Subject: digital/{ai, io-hub}, host/simu/robots: add guybrush Still use robospierre parameters for asserv and mimot --- host/simu/robots/guybrush/__init__.py | 0 host/simu/robots/guybrush/link/__init__.py | 0 host/simu/robots/guybrush/link/bag.py | 36 ++++++++++++++ host/simu/robots/guybrush/model/__init__.py | 0 host/simu/robots/guybrush/model/bag.py | 52 ++++++++++++++++++++ host/simu/robots/guybrush/view/__init__.py | 0 host/simu/robots/guybrush/view/bag.py | 44 +++++++++++++++++ host/simu/robots/guybrush/view/robot.py | 74 +++++++++++++++++++++++++++++ 8 files changed, 206 insertions(+) create mode 100644 host/simu/robots/guybrush/__init__.py create mode 100644 host/simu/robots/guybrush/link/__init__.py create mode 100644 host/simu/robots/guybrush/link/bag.py create mode 100644 host/simu/robots/guybrush/model/__init__.py create mode 100644 host/simu/robots/guybrush/model/bag.py create mode 100644 host/simu/robots/guybrush/view/__init__.py create mode 100644 host/simu/robots/guybrush/view/bag.py create mode 100644 host/simu/robots/guybrush/view/robot.py (limited to 'host') diff --git a/host/simu/robots/guybrush/__init__.py b/host/simu/robots/guybrush/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/guybrush/link/__init__.py b/host/simu/robots/guybrush/link/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/guybrush/link/bag.py b/host/simu/robots/guybrush/link/bag.py new file mode 100644 index 00000000..a1ccd741 --- /dev/null +++ b/host/simu/robots/guybrush/link/bag.py @@ -0,0 +1,36 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2012 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. +# +# }}} +"""Guybrush bag of links.""" +import io_hub.mex +import asserv.mex +import mimot.mex + +class Bag: + + def __init__ (self, node, instance = 'robot0'): + self.asserv = asserv.mex.Mex (node, '%s:asserv0' % instance) + self.io_hub = io_hub.mex.Mex (node, '%s:io0' % instance, + contact_nb = 3) + self.mimot = mimot.mex.Mex (node, '%s:mimot0' % instance) + diff --git a/host/simu/robots/guybrush/model/__init__.py b/host/simu/robots/guybrush/model/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py new file mode 100644 index 00000000..fda35ce0 --- /dev/null +++ b/host/simu/robots/guybrush/model/bag.py @@ -0,0 +1,52 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2012 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. +# +# }}} +"""Guybrush bag of models.""" +from simu.model.switch import Switch +from simu.model.position import Position +from simu.model.distance_sensor_sensopart import DistanceSensorSensopart +from math import pi +import random + +class Bag: + + def __init__ (self, scheduler, table, link_bag): + self.color_switch = Switch (link_bag.io_hub.contact[0], invert = True) + self.color_switch.state = random.choice ((False, True)) + self.color_switch.notify () + self.jack = Switch (link_bag.io_hub.contact[1], invert = True) + self.strat_switch = Switch (link_bag.io_hub.contact[2], invert = True) + self.position = Position (link_bag.asserv.position) + self.distance_sensor = [ + DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table, + (20, 20), pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table, + (20, -20), -pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table, + (-20, -20), pi + pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table, + (-20, 20), pi - pi * 10 / 180, (self.position, ), 2), + ] + self.path = link_bag.io_hub.path + self.pos_report = link_bag.io_hub.pos_report + diff --git a/host/simu/robots/guybrush/view/__init__.py b/host/simu/robots/guybrush/view/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/guybrush/view/bag.py b/host/simu/robots/guybrush/view/bag.py new file mode 100644 index 00000000..7af72be6 --- /dev/null +++ b/host/simu/robots/guybrush/view/bag.py @@ -0,0 +1,44 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2012 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. +# +# }}} +"""Guybrush 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.view.pos_report import PosReport +from simu.robots.guybrush.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.strat_switch = Switch (sensor_frame, model_bag.strat_switch, + 'Strat') + 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) + self.pos_report = PosReport (table, model_bag.pos_report) + diff --git a/host/simu/robots/guybrush/view/robot.py b/host/simu/robots/guybrush/view/robot.py new file mode 100644 index 00000000..52f4d509 --- /dev/null +++ b/host/simu/robots/guybrush/view/robot.py @@ -0,0 +1,74 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2012 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. +# +# }}} +"""Guybrush robot view.""" +import simu.inter.drawable +from math import pi + +COLOR_ROBOT = '#000000' +COLOR_AXES = '#202040' + +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_translate (self.pos) + self.trans_rotate (self.angle) + # Draw robot body. + self.draw_polygon ((0, 190), (150, 110), (95, 95), (55, 55), + (40, -0), (55, -55), (95, -95), (150, -110), (0, -190), + (-150, -110), (-95, -95), (-55, -55), (-40, -0), + (-55, 55), (-95, 95), (-150, 110), (0, 190), + fill = COLOR_ROBOT) + self.draw_arc ((0, 0), 190, start = pi * 35 / 180, + extent = pi * 110 / 180, style = 'chord', + outline = COLOR_ROBOT, fill = COLOR_ROBOT) + self.draw_arc ((0, 0), 190, start = pi + pi * 35 / 180, + extent = pi * 110 / 180, style = 'chord', + outline = COLOR_ROBOT, fill = COLOR_ROBOT) + # Draw Robot axis. + self.draw_line ((-50, 0), (50, 0), fill = COLOR_AXES, + arrow = 'last') + # Draw Robot wheels. + f = 221 # Wheel spacing + wr = 60 / 2 # Wheel radius + self.draw_line ((0, +f / 2), (0, -f / 2), fill = COLOR_AXES) + self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = COLOR_AXES) + self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = COLOR_AXES) + # Extends. + simu.inter.drawable.Drawable.draw (self) + -- cgit v1.2.3