import simu.model.table_eurobot2010 import simu.view.table_eurobot2010 import simu.robots.marcel.link.bag import simu.robots.marcel.model.bag import simu.robots.marcel.view.bag import asserv import asserv.init import mimot import mimot.init import io import io.init from proto.popen_io import PopenIO import math class Robot: def __init__ (self, proto_time): self.table_model = simu.model.table_eurobot2010 self.table_view = simu.view.table_eurobot2010 self.robot_link = simu.robots.marcel.link.bag self.robot_model = simu.robots.marcel.model.bag self.robot_view = simu.robots.marcel.view.bag asserv_cmd = ('../../asserv/src/asserv/asserv.host', '-m9', 'marcel') mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel') io_cmd = ('../../io/src/io.host') self.asserv = asserv.Proto (PopenIO (asserv_cmd), proto_time, **asserv.init.host['marcel']) self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time, **mimot.init.host['marcel']) self.io = io.Proto (PopenIO (io_cmd), proto_time, **io.init.host['marcel']) self.robot_start_pos = { False: (300, 2100 - 305, math.radians (-270)), True: (3000 - 300, 2100 - 305, math.radians (-270)) }