def draw(self, figure, ares=0):
"""Make the RoboDraw Draw the figure determined by the list of points"""
#-- Transform the cartesian points into the angular space
#-- by means of the inverse kinematics
la = [(self.inverse_kin(p[0], p[1], 1)) for p in figure.lp]
#-- Perform the sampling in the angular space
angular_fig = fig.Figure(la).divide(ares)
#-- Move the pencil up
self.pen_up()
time.sleep(0.400)
#-- Move to the first position
self.pose(angular_fig.lp[0][0], angular_fig.lp[0][1])
#-- Move down the pencil
self.pen_down()
time.sleep(0.400)
#-- Send the positions to the robot!
for alpha, beta in angular_fig.lp:
self.pose(alpha, beta)
#time.sleep(0.1) #-- extra time
#-- Move the pencil up
self.pen_up()
def test_pol():
pol = [(32.324879, 901.84946), (210.111729, 106.06604),
(-110.106629, 51.5178), (17.17259, 125.2589), (-142.43151, 4.0406),
(-22.22335, -227.28434)]
poly = fig.Figure(pol)
poly.plot()
def display_draw(self, figure, decimals=1, ares=0, display_points=False):
"""Draw the figure.
It is drawn
by means of the virtual robot (applying inverse kinematics to
the points, and then the direct kinematics"""
#-- Transform the cartesian points into the angular space
#-- by means of the inverse kinematics
la = [(self.inverse_kin(p[0], p[1], decimals)) for p in figure.lp]
#-- Perform the sampling in the angular space
angular_fig = fig.Figure(la).divide(ares)
#-- Transform the angular space into cartesian again, by means
#-- of the direct kinematics
lc = [(self.kinematics(a[0], a[1])) for a in angular_fig.lp]
#-- Create a new figure
new_fig = fig.Figure(lc)
#-- Plot!
new_fig.plot(display_points)
def check_for_pawn(self, x_from, y_from, x_to, y_to):
if self.board.board[y_to][x_to] is None:
end_figure = Figures.Figure("none")
else:
end_figure = self.board.board[y_to][x_to]
if isinstance(self.board.board[y_from][x_from], Figures.Pawn):
if self.board.board[y_from][x_from].color == "white":
return self.white_pawn_first_move(x_from, y_from, x_to, y_to, end_figure) or \
self.white_pawn_common_move(x_from, y_from, x_to, y_to, end_figure) or \
self.white_pawn_en_passant(y_from, x_to) or \
self.check_for_pawn_strike(x_from, y_from, x_to, y_to)
elif self.board.board[y_from][
x_from].color == "black": # same as white
return self.black_pawn_first_move(x_from, y_from, x_to, y_to, end_figure) or \
self.black_pawn_common_move(x_from, y_from, x_to, y_to, end_figure) or \
self.black_pawn_en_passant(y_from, x_to) or \
self.check_for_pawn_strike(x_from, y_from, x_to, y_to)
else:
return False
def check_and_move(self, start,
end): # does rule checking and figure movement
x_from, y_from = start
x_to, y_to = end
if self.board.board[y_to][x_to] is None:
end_figure = Figures.Figure(
"none"
) # у NoneType нет атрибута color, поэтому создаем виртуальный
else:
end_figure = self.board.board[y_to][x_to]
if self.board.board[y_from][x_from] is not None:
#figures color checking
if (self.board.board[y_from][x_from].color == self.turn) and \
(end_figure.color != self.board.board[y_from][x_from].color):
#rules checking
if self.is_able_to_go(x_from, y_from, x_to,
y_to) or self.check_for_king(
x_from, y_from, x_to, y_to):
#movement checking for castle
self.detect_first_move(x_from, y_from)
start_figure = self.board.board[y_from][x_from]
end_figure = self.board.board[y_to][x_to]
#actual moving
self.board.move_figure(
self.board.convert_position_backwards(start),
self.board.convert_position_backwards(end))
#acquiring new stricken cells
self.find_hit_cells()
#checking if king is in check, and if so, returning back to previous board state
if self.is_current_king_in_check():
self.board.move_figure(
self.board.convert_position_backwards(end),
self.board.convert_position_backwards(start))
else: # check for pawns in last line and switch active player
self.find_pawn_for_replace()
if self.pawn_to_replace is not None:
self.ask_for_figure()
self.history.add_turn((x_from, y_from, x_to, y_to,
start_figure, end_figure))
self.change_turn()
self.find_hit_cells()
yc += y
alp.append((xc, yc))
#-- Add the first point
#alp.append(alp[0])
#-- Create the robot and set the connection
r = Robot.Robot(l1 = 73.0, l2 = 97.0)
r.test()
r.connect("/dev/ttyUSB0")
time.sleep(2)
r.speed(100)
#--- Create the figure with the absolute points!
f = fig.Figure(alp)
#-- Center the figure at origin (0,0)
f.center()
#-- Flip the y axis
f.flipy()
#f = f.divide(2)
#-- Scale the figure so that it fits the robot printing area
f.scale_fity(30)
#-- Translate the figure to the robot printing origin
f.translate(r.center)
