# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ # # Copyright (C) 2009 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_aquajim import TestSimu from Tkinter import * import math class TestSimuControl (TestSimu): """Interface with extra control.""" def __init__ (self, asserv_cmd, io_cmd): TestSimu.__init__ (self, asserv_cmd, io_cmd) self.door_pos = 0 self.finger_pos = 0 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.cylinder_button = Button (self.control_frame, text = 'Cylinder', command = self.cylinder_command) self.cylinder_button.pack () self.door_button = Button (self.control_frame, text = 'Door', command = self.door_command) self.door_button.pack () self.finger_button = Button (self.control_frame, text = 'Finger', command = self.finger_command) self.finger_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 cylinder_command (self): self.asserv.speed_pos ('a0', 5333 / 3) def door_command (self): self.door_pos = 1 - self.door_pos self.io.servo_pos (0, self.door_pos) def finger_command (self): self.finger_pos = 1 - self.finger_pos self.io.servo_pos (1, self.finger_pos) def change_color (self, *dummy): pass if __name__ == '__main__': app = TestSimuControl (('../../asserv/src/asserv/asserv.host', '-m', 'aquajim'), ('../src/io.host')) app.mainloop ()