# 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. # # }}} """Giboulee balls sorter.""" from simu.inter.drawable import Drawable from simu.view.servo import Servo from math import pi class Sorter (Drawable): width = 1 height = 1 def __init__ (self, onto, sorter_model): Drawable.__init__ (self, onto) self.traps = [ Servo (self, sorter_model.traps[0], (-2.5, -1), 0.8, 0, pi/2), Servo (self, sorter_model.traps[1], (-1.5, -0.9), 0.8, 0, pi/2), Servo (self, sorter_model.traps[2], (-0.5, -0.8), 0.8, 0, pi/2), Servo (self, sorter_model.traps[3], (0.5, -0.8), 0.8, pi, -pi/2), Servo (self, sorter_model.traps[4], (1.5, -0.9), 0.8, pi, -pi/2), ] self.door = Servo (self, sorter_model.door, (-2.5, 1.3), 0.8, -pi/6, pi/3), def draw (self): self.reset () self.trans_scale (0.9/5) self.draw_line ((-0.5, 1.5), (-0.5, 0.5), (-2.5, 0.2), fill = '#808080') self.draw_line ((-2.5, -1.2), (-2.5, -2.3), (2.5, -2.3), (2.5, 0.2), (0.5, 0.5), (0.5, 1.5), fill = '#808080') for i in (-1.5, -0.5, 0.5, 1.5): self.draw_line ((i, -2.3), (i, -2), fill = '#808080') Drawable.draw (self)