# simu - Robot simulation. {{{ # # Copyright (C) 2011 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. # # }}} """Robospierre bag of models.""" from simu.model.switch import Switch from simu.model.position import Position from simu.model.motor_basic import MotorBasic from simu.model.distance_sensor_sensopart import DistanceSensorSensopart from simu.robots.robospierre.model.clamp import Clamp from math import pi class Bag: def __init__ (self, scheduler, table, link_bag): self.color_switch = Switch (link_bag.io_hub.contact[0], invert = True) self.jack = Switch (link_bag.io_hub.contact[1], invert = True) self.contact = [ Switch (contact) for contact in link_bag.io_hub.contact[2:] ] self.position = Position (link_bag.asserv.position) self.clamping_motor = MotorBasic (link_bag.io_hub.pwm[2], scheduler, 8 * pi, 0, pi) self.door_motors = [ MotorBasic (link_bag.io_hub.pwm[i], scheduler, 8 * pi, 0, 0.5 * pi) for i in (0, 1, 3, 4) ] self.clamp = Clamp (table, self.position, link_bag.mimot.aux[0], link_bag.mimot.aux[1], self.clamping_motor, self.door_motors, self.contact[0:7]) self.distance_sensor = [ DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table, (20, 20), pi * 10 / 180, (self.position, ), 2), DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table, (20, -20), -pi * 10 / 180, (self.position, ), 2), DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table, (-20, -20), pi + pi * 10 / 180, (self.position, ), 2), DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table, (-20, 20), pi - pi * 10 / 180, (self.position, ), 2), ] for adc in link_bag.io_hub.adc[4:]: adc.value = 0