import simu.model.table_eurobot2011 import simu.view.table_eurobot2011 import simu.robots.robospierre.link.bag import simu.robots.robospierre.model.bag import simu.robots.robospierre.view.bag import asserv import asserv.init import mimot import mimot.init import io_hub import io_hub.init from proto.popen_io import PopenIO import math class Robot: def __init__ (self, proto_time): self.table_model = simu.model.table_eurobot2011 self.table_view = simu.view.table_eurobot2011 self.robot_link = simu.robots.robospierre.link.bag self.robot_model = simu.robots.robospierre.model.bag self.robot_view = simu.robots.robospierre.view.bag asserv_cmd = ('../../asserv/src/asserv/asserv.host', '-m9', 'robospierre') mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel') io_hub_cmd = ('../../io-hub/src/robospierre/io_hub.host') self.asserv = asserv.Proto (PopenIO (asserv_cmd), proto_time, **asserv.init.host['robospierre']) self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time, **mimot.init.host['robospierre']) self.io = io_hub.Proto (PopenIO (io_hub_cmd), proto_time, **io_hub.init.host['robospierre']) self.robot_start_pos = { # In real life, better place the robot in green zone. False: (300, 2100 - 200, math.radians (180)), True: (3000 - 300, 2100 - 200, math.radians (0)) }