# 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 clamps.""" from utils.observable import Observable class Clamps (Observable): def __init__ (self, table, robot_position, lower_clamp_motor, lower_clamp_cylinders): Observable.__init__ (self) self.table = table self.robot_position = robot_position self.lower_clamp_motor = lower_clamp_motor self.lower_clamp_cylinders = lower_clamp_cylinders self.lower_clamp_clamping = [ None, None ] self.lower_clamp_motor.register (self.__lower_clamp_notified) for c in self.lower_clamp_cylinders: c.register (self.__lower_clamp_notified) def __lower_clamp_notified (self): self.lower_clamp_rotation = self.lower_clamp_motor.angle for i, c in enumerate (self.lower_clamp_cylinders): if c.pos is None: self.lower_clamp_clamping[i] = None else: self.lower_clamp_clamping[i] = (1.0 - (c.pos - c.pos_in) / (c.pos_out - c.pos_in)) self.notify ()