# simu - Robot simulation. {{{ # # Copyright (C) 2010 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. # # }}} """Marcel bag of models.""" from simu.model.switch import Switch from simu.model.position import Position from simu.robots.marcel.model.loader import Loader from simu.model.distance_sensor_sensopart import DistanceSensorSensopart from math import pi class Bag: def __init__ (self, scheduler, table, link_bag): self.jack = Switch (link_bag.io.jack) self.color_switch = Switch (link_bag.io.color_switch) self.contact = [ Switch (contact) for contact in link_bag.io.contact ] self.position = Position (link_bag.asserv.position) self.loader = Loader (table, self.position, link_bag.mimot.aux[0], link_bag.mimot.aux[1], link_bag.asserv.aux[0]) self.distance_sensor = [ DistanceSensorSensopart (link_bag.io.adc[0], scheduler, table, (30 - 20, 0), 0, (self.position, ), 2), DistanceSensorSensopart (link_bag.io.adc[1], scheduler, table, (20 - 20, 20), pi * 30 / 180, (self.position, ), 2), DistanceSensorSensopart (link_bag.io.adc[2], scheduler, table, (20 - 20, -20), -pi * 30 / 180, (self.position, ), 2), DistanceSensorSensopart (link_bag.io.adc[3], scheduler, table, (-30 - 20, 0), pi, (self.position, ), 2), ] link_bag.io.adc[4].value = 0 link_bag.io.adc[5].value = 0 self.path = link_bag.io.path self.pos_report = link_bag.io.pos_report