# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ # # 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. # # }}} from test_simu import TestSimu, run from Tkinter import * import math class TestSimuControl (TestSimu): """Interface with extra control.""" ELEVATION_STROKE = 0x3b0b ROTATION_STROKE = 0x11c6 def __init__ (self, robot_class): TestSimu.__init__ (self, robot_class) def create_widgets (self): TestSimu.create_widgets (self) self.control_frame = Frame (self) self.control_frame.pack (side = 'left', before = self.table_view, fill = 'y') self.clamp_var = IntVar () self.clamp_var.set (1) self.clamp_button = Checkbutton (self.control_frame, text = 'Clamp', indicatoron = False, variable = self.clamp_var, command = self.clamp_command) self.clamp_button.pack () self.elevation_up_button = Button (self.control_frame, text = 'Elevation up', padx = 0, pady = 0, command = self.elevation_up_command) self.elevation_up_button.pack () self.elevation_down_button = Button (self.control_frame, text = 'Elevation down', padx = 0, pady = 0, command = self.elevation_down_command) self.elevation_down_button.pack () self.rotation_cw_button = Button (self.control_frame, text = 'Rotation cw', padx = 0, pady = 0, command = self.rotation_cw_command) self.rotation_cw_button.pack () self.rotation_ccw_button = Button (self.control_frame, text = 'Rotation ccw', padx = 0, pady = 0, command = self.rotation_ccw_command) self.rotation_ccw_button.pack () self.clamp_pos_scale = Scale (self.control_frame, orient = HORIZONTAL, from_ = 0, to = 6) self.clamp_pos_scale.pack () self.clamp_move_button = Button (self.control_frame, text = 'Move clamp', padx = 0, pady = 0, command = self.clamp_move_command) self.clamp_move_button.pack () self.table_view.bind ('<1>', self.move) self.table_view.bind ('<3>', self.orient) def move (self, ev): pos = self.table_view.screen_coord ((ev.x, ev.y)) self.asserv.goto (pos[0], pos[1]) def orient (self, ev): x, y = self.table_view.screen_coord ((ev.x, ev.y)) robot_pos = self.robot_model.position.pos if robot_pos is not None: a = math.atan2 (y - robot_pos[1], x - robot_pos[0]) self.asserv.goto_angle (a) def clamp_command (self): if self.clamp_var.get (): self.io.pwm_set_timed (0, -0x3ff, 255, 0) else: self.io.pwm_set_timed (0, 0x3ff, 255, 0) def elevation_up_command (self): self.mimot.speed_pos ('a0', self.ELEVATION_STROKE / 2) def elevation_down_command (self): self.mimot.speed_pos ('a0', -self.ELEVATION_STROKE / 2) def rotation_cw_command (self): self.mimot.speed_pos ('a1', self.ROTATION_STROKE / 2) def rotation_ccw_command (self): self.mimot.speed_pos ('a1', -self.ROTATION_STROKE / 2) def clamp_move_command (self): self.io.clamp_move (self.clamp_pos_scale.get ()) def change_color (self, *dummy): pass if __name__ == '__main__': run ('robospierre', TestSimuControl)