# simu - Robot simulation. {{{ # # Copyright (C) 2012 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. # # }}} """Guybrush bag of models.""" from simu.model.switch import Switch from simu.model.position import Position from simu.model.round_obstacle import RoundObstacle from simu.model.distance_sensor_sensopart import DistanceSensorSensopart from simu.model.pneumatic_cylinder import PneumaticCylinder from simu.robots.guybrush.model.clamps import Clamps from math import pi import random class Bag: OUTPUT_UPPER_CLAMP_OPEN = 1 OUTPUT_UPPER_CLAMP_OUT = 2 OUTPUT_UPPER_CLAMP_IN = 3 OUTPUT_UPPER_CLAMP_DOWN = 4 OUTPUT_UPPER_CLAMP_UP = 5 OUTPUT_DOOR_OPEN = 6 OUTPUT_DOOR_CLOSE = 7 OUTPUT_LOWER_CLAMP_1_CLOSE = 8 OUTPUT_LOWER_CLAMP_2_CLOSE = 9 def __init__ (self, scheduler, table, link_bag): self.color_switch = Switch (link_bag.io_hub.contact[0], invert = True) self.color_switch.state = random.choice ((False, True)) self.color_switch.notify () self.jack = Switch (link_bag.io_hub.contact[1], invert = True) self.strat_switch = Switch (link_bag.io_hub.contact[2], invert = True) self.beacon = RoundObstacle (40, 5) table.obstacles.append (self.beacon) self.position = Position (link_bag.asserv.position, [ self.beacon ]) output = link_bag.io_hub.output contact = [ Switch (c) for c in link_bag.io_hub.contact[3:] ] self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0], (PneumaticCylinder (output[self.OUTPUT_LOWER_CLAMP_1_CLOSE], None, scheduler, 0., 30., 150., 75., 30.), PneumaticCylinder (output[self.OUTPUT_LOWER_CLAMP_2_CLOSE], None, scheduler, 0., 30., 150., 75., 30.)), contact[0:2], contact[8], PneumaticCylinder (output[self.OUTPUT_UPPER_CLAMP_DOWN], output[self.OUTPUT_UPPER_CLAMP_UP], scheduler, 0., 1., 1., 1., 1., contact[2], contact[3]), PneumaticCylinder (output[self.OUTPUT_UPPER_CLAMP_IN], output[self.OUTPUT_UPPER_CLAMP_OUT], scheduler, 0., 1., 1., 1., 0.), PneumaticCylinder (None, output[self.OUTPUT_UPPER_CLAMP_OPEN], scheduler, 0., 30., 150., 75., 30.), PneumaticCylinder (output[self.OUTPUT_DOOR_CLOSE], output[self.OUTPUT_DOOR_OPEN], scheduler, 0., 1., 1., 1., 1., contact[5], contact[4]) ) self.distance_sensor = [ DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table, (120, 0), 0, (self.position, ), 4), DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table, (120, 160), 0, (self.position, ), set ([3, 4])), DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table, (120, -160), 0, (self.position, ), set ([3, 4])), DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table, (-130, 0), pi, (self.position, ), 4), ] self.path = link_bag.io_hub.path self.pos_report = link_bag.io_hub.pos_report self.debug_draw = link_bag.io_hub.debug_draw