# simu - Robot simulation. {{{ # # 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. # # }}} """AquaJim pucks sorter.""" from utils.observable import Observable from simu.utils.trans_matrix import TransMatrix from math import pi class Sorter (Observable): def __init__ (self, table, arm_motor_link, cylinder_puck_contact, servo_links, bridge_puck_contact, elevator_motor_link, elevator_door_model, elevator_door_contact, into = None): Observable.__init__ (self) self.table = table self.into = into or () self.arm_slot = [ None, None, None ] self.bridge_slot = [ None, None ] self.lost = [ ] self.arm_motor_link = arm_motor_link self.arm_motor_link.register (self.__arm_motor_notified) self.__arm_motor_notified () self.cylinder_puck_contact = cylinder_puck_contact self.servo_links = servo_links self.bridge_puck_contact = bridge_puck_contact self.servo_links[0].register (self.__bridge_door_servo_notified) self.__bridge_door_servo_notified () self.servo_links[1].register (self.__bridge_finger_servo_notified) self.__bridge_finger_servo_notified () self.elevator_motor_link = elevator_motor_link self.elevator_motor_link.register (self.__elevator_motor_notified) self.__elevator_motor_notified () self.elevator_door = elevator_door_model self.elevator_door_contact = elevator_door_contact self.elevator_door.register (self.__elevator_door_notified) self.__elevator_door_notified () def __transform (self, pos): m = TransMatrix () for i in self.into: if i.pos is None: return None m.rotate (i.angle) m.translate (i.pos) return m.apply (pos) def __arm_motor_notified (self): # Update angle. self.arm_angle = self.arm_motor_link.angle if self.arm_angle is not None: # Is there a puck at entry? entry_pos = self.__transform ((150 - 40, 0)) if entry_pos is not None: front_puck = self.table.nearest (entry_pos, level = 1, max = 35) # Update puck cylinder contact. self.cylinder_puck_contact.state = front_puck is None self.cylinder_puck_contact.notify () # For each arm. for i in range (3): a = (self.arm_angle + i * 2 * pi / 3) % (2 * pi) # If arm is leaving, take puck. if (front_puck is not None and self.arm_slot[i] is None and a > 0 and a < pi / 16): self.arm_slot[i] = front_puck front_puck.pos = None # If arm is up, pass puck to bridge. if (self.arm_slot[i] is not None and a > pi and a < 17 * pi / 16): if self.bridge_slot[0] is None: self.bridge_slot[0] = self.arm_slot[i] else: self.lost.append (self.arm_slot[i]) self.arm_slot[i] = None self.notify () def __bridge_door_servo_notified (self): self.bridge_door_servo_value = self.servo_links[0].value if self.bridge_door_servo_value is not None: if (self.bridge_door_servo_value < 0.1 and self.bridge_slot[0] is not None and self.bridge_slot[1] is None): # Pass the door. self.bridge_slot[1] = self.bridge_slot[0] self.bridge_slot[0] = None self.__bridge_puck_update () self.notify () def __bridge_finger_servo_notified (self): self.bridge_finger_servo_value = self.servo_links[1].value if (self.bridge_finger_servo_value is not None and self.bridge_door_servo_value is not None): if (self.bridge_door_servo_value > 0.9 and self.bridge_finger_servo_value > 0.5 and self.bridge_slot[1] is not None): # Drop until elevator is fully implemented. self.lost.append (self.bridge_slot[1]) self.bridge_slot[1] = None self.__bridge_puck_update () self.notify () def __bridge_puck_update (self): # Update bridge puck contact. self.bridge_puck_contact.state = self.bridge_slot[1] is None self.bridge_puck_contact.notify () def __elevator_motor_notified (self): if self.elevator_motor_link.angle is None: self.elevator_height = None else: self.elevator_height = 150 - self.elevator_motor_link.angle * 5.5 self.notify () def __elevator_door_notified (self): self.elevator_door_contact.state = (self.elevator_door.angle != self.elevator_door.max_stop) self.elevator_door_contact.notify ()