# mimot - Mini motor control, with motor driver. {{{ # # Copyright (C) 2010 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. # # }}} """Mex interface to mimot.""" from utils.observable import Observable import simu.mex.msg class Mex: """Handle communications with simulated mimot.""" class Position (Observable): """Robot position. - pos: (x, y) millimeters. - angle: radian. """ def __init__ (self, node, instance): Observable.__init__ (self) self.pos = None self.angle = None node.register (instance + ':position', self.__handle) def __handle (self, msg): x, y, a = msg.pop ('hhl') self.pos = (x, y) self.angle = float (a) / 1024 self.notify () class PWM (Observable): """Motor PWM. - pwm: current PWM values (hardware unit). """ def __init__ (self, node, instance): Observable.__init__ (self) self.pwm = None node.register (instance + ':pwm', self.__handle) def __handle (self, msg): self.pwm = msg.pop ('hh') self.notify () def __init__ (self, node, instance = 'mimot0'): self.position = self.Position (node, instance) self.pwm = self.PWM (node, instance)