# 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, elevator_motor_link, servo_links, elevator_door_model, into = None): Observable.__init__ (self) self.table = table self.into = into or () self.arm_motor_link = arm_motor_link self.arm_motor_link.register (self.__arm_motor_notified) self.__arm_motor_notified () self.elevator_motor_link = elevator_motor_link self.elevator_motor_link.register (self.__elevator_motor_notified) self.__elevator_motor_notified () self.servo_links = servo_links self.elevator_door = elevator_door_model self.arm_slot = [ None, None, None ] 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) # 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 self.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 ()