# 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 bridge.""" from simu.inter.drawable import Drawable from math import pi, cos, sin from simu.view.table_eurobot2009 import puck_attr class Bridge (Drawable): width = 220 height = 100 def __init__ (self, onto, model): Drawable.__init__ (self, onto) self.model = model self.model.register (self.update) def draw (self): self.reset () self.trans_rotate (0.95 * pi / 2) self.draw_line ((-40, -80), (-40, 80), fill = '#808080') self.draw_line ((40, -80), (40, 80), fill = '#808080') for i in range (2): puck = self.model.bridge_slot[i] if puck is not None: self.draw_circle ((0, 40 - 80 * i), 35, **puck_attr[puck.color]) if self.model.bridge_door_servo_value is not None: self.draw_arc ((0, -40), 37.5, start = -3 * pi / 4 + self.model.bridge_door_servo_value * pi, extent = pi / 2) if self.model.bridge_finger_servo_value is not None: self.draw_arc ((-40, -50), 50, start = pi / 2, extent = -3 * pi / 4, style = 'arc', outline = '#c0c0c0') a = pi / 2 - self.model.bridge_finger_servo_value * 3 * pi / 4 self.draw_line ((-40, -50), (-40 + 50 * cos (a), -50 + 50 * sin (a)))