# simu - Robot simulation. {{{ # # 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. # # }}} """Sensopart UT20 model.""" from utils.observable import Observable from simu.model.distance_sensor import DistanceSensor from math import pi class DistanceSensorSensopart (Observable): # Nominal range of the sensor. RANGE = 700 # Reflection quality. If 1, the sensor will see at most exactly to the # nominal distance, which is almost never the case, it is always more than # that. QUALITY = 1.6 # Secondary rays. The simulated sensor will use several lines to sense # objects, this are for each secondary line, its angle and distance ratio # (see sensor area diagram). SECONDARY = ((0.07, 0.8), (0.28, 0.4)) # Calibrated values. MIN = 100 MAX = 700 # Output levels for MIN/MAX. OMIN = 250 * 0.004 OMAX = 250 * 0.020 def __init__ (self, link, scheduler, table, pos, angle, into = None, level = 0): Observable.__init__ (self) self.rays = [ ] range = self.RANGE * self.QUALITY self.rays.append (DistanceSensorSensopartRay (table, pos, angle, range, into, level)) for s in self.SECONDARY: for i in (-1, 1): self.rays.append (DistanceSensorSensopartRay (table, pos, angle + s[0] * i, range * s[1], into, level)) self.link = link self.scheduler = scheduler self.value = None self.evaluate () self.register (self.__update) def evaluate (self): # Compute real distance. d = None for r in self.rays: r.evaluate () if r.distance is not None and (d is None or r.distance < d): d = r.distance # Convert to voltage. if d is None or d > self.MAX: self.value = self.OMAX elif d < self.MIN: self.value = self.OMIN else: self.value = (self.OMIN + (d - self.MIN) / (self.MAX - self.MIN) * (self.OMAX - self.OMIN)) # Update observers. self.notify () # Prepare next update. self.scheduler.schedule (self.scheduler.date + int (self.scheduler.tick * 0.030), self.evaluate) def __update (self): self.link.value = self.value self.link.notify () class DistanceSensorSensopartRay (Observable, DistanceSensor): def __init__ (self, *args): Observable.__init__ (self) DistanceSensor.__init__ (self, *args) def evaluate (self): old = self.distance # Compute real distance. DistanceSensor.evaluate (self) # Update observers. if self.distance != old: self.notify ()