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0 files changed, 0 insertions, 0 deletions
='/apbteam.git/commit/host/simu/robots/guybrush/model/clamps.py?h=eurobot-2011-1&id=830caf7438e09c0834a6d1141144fdc2752aa15c'>830caf7438e09c0834a6d1141144fdc2752aa15c (diff)
host/simu/robots/guybrush: add upper clamp simulation
Diffstat (limited to 'host/simu/robots/guybrush/model/clamps.py')
-rw-r--r--host/simu/robots/guybrush/model/clamps.py67
1 files changed, 66 insertions, 1 deletions
diff --git a/host/simu/robots/guybrush/model/clamps.py b/host/simu/robots/guybrush/model/clamps.py
index 1cfc30f1..d1545c8d 100644
--- a/host/simu/robots/guybrush/model/clamps.py
+++ b/host/simu/robots/guybrush/model/clamps.py
@@ -29,7 +29,9 @@ from math import pi
class Clamps (Observable):
def __init__ (self, table, robot_position, lower_clamp_motor,
- lower_clamp_cylinders, lower_clamp_sensors):
+ lower_clamp_cylinders, lower_clamp_sensors,
+ upper_clamp_up_down_cylinder, upper_clamp_in_out_cylinder,
+ upper_clamp_open_cylinder):
Observable.__init__ (self)
self.table = table
self.robot_position = robot_position
@@ -38,9 +40,16 @@ class Clamps (Observable):
self.lower_clamp_sensors = lower_clamp_sensors
self.lower_clamp_clamping = [ None, None ]
self.lower_clamp_content = [ [ ], [ ] ]
+ self.upper_clamp_up_down_cylinder = upper_clamp_up_down_cylinder
+ self.upper_clamp_in_out_cylinder = upper_clamp_in_out_cylinder
+ self.upper_clamp_open_cylinder = upper_clamp_open_cylinder
+ self.upper_clamp_content = [ ]
self.lower_clamp_motor.register (self.__lower_clamp_notified)
for c in self.lower_clamp_cylinders:
c.register (self.__lower_clamp_notified)
+ self.upper_clamp_up_down_cylinder.register (self.__upper_clamp_notified)
+ self.upper_clamp_in_out_cylinder.register (self.__upper_clamp_notified)
+ self.upper_clamp_open_cylinder.register (self.__upper_clamp_notified)
self.robot_position.register (self.__robot_position_notified)
def __robot_position_notified (self):
@@ -58,6 +67,17 @@ class Clamps (Observable):
self.__compute_lower_clamp ()
self.notify ()
+ def __upper_clamp_notified (self):
+ self.upper_clamp_up_down = 1 - self.upper_clamp_up_down_cylinder.pos # 1. is down.
+ self.upper_clamp_in_out = self.upper_clamp_in_out_cylinder.pos # 1. is out.
+ c = self.upper_clamp_open_cylinder
+ if c.pos is None:
+ self.upper_clamp_clamping = None
+ else:
+ self.upper_clamp_clamping = c.pos / c.pos_out
+ self.__compute_upper_clamp ()
+ self.notify ()
+
def __compute_lower_clamp (self):
"""Compute all operations of lower clamps."""
changed = False
@@ -97,6 +117,25 @@ class Clamps (Observable):
s.notify ()
return changed
+ def __compute_upper_clamp (self):
+ """Compute all operations of upper clamps."""
+ if (self.upper_clamp_up_down is None
+ or self.upper_clamp_in_out is None
+ or self.upper_clamp_clamping is None):
+ return
+ if (self.upper_clamp_clamping < 0.1
+ and self.upper_clamp_up_down > 0.9):
+ # Examine elements in front of the robot.
+ for e, y in self.__get_upper_elements ():