def __init__(self,
high_button,
low_button,
magnitude=1.0,
lmagnitude=None,
name=None,
minpos=-1.0,
maxpos=1.0):
"""
Create ButtonAxis where pressing high_button sets the axis
position to magnitude. Pressing low_button sets the position
to negative magnitude. Both or neither button sets the
position to 0.0.
"""
if name == None:
name = "ButtonAxis from %s and %s" % (high_button.name,
low_button.name)
else:
name = name
if lmagnitude is None:
lmagnitude = magnitude
Axis.__init__(self, name, minpos, maxpos)
self.high_button = high_button
self.low_button = low_button
self.magnitude = magnitude
self.lmagnitude = lmagnitude
self.cb = MethodCallback(self.callback)
high_button.addCallback(self.cb)
low_button.addCallback(self.cb)
def __init__(self, roller):
"""
"""
Roller.__init__(self, "EchoRoller for %s" % roller.name)
self.roller = roller
self.parents = (roller, )
self.cb = MethodCallback(self.move)
roller.addCallback(self.cb)
def __init__(self, *buttons):
"""
Constructs ButtonChooser from a list of possible Buttons and
other ButtonChoosers.
"""
Chooser.__init__(self, *buttons)
self.cb = MethodCallback(self.callback)
for n, b in enumerate(self):
b.addCallback(self.cb, n, b)
def __init__(self, *buttonamounts):
"""
Constructor takes any number of 2-tuples: (Button, amount).
"""
Roller.__init__(self, "NotchRoller")
self.buttonamounts = buttonamounts
self.cb = MethodCallback(self.callback)
for buttonamount in buttonamounts:
buttonamount[0].addCallback(self.cb, buttonamount[1])
def __init__(self, *rollers):
"""
Create JointRoller based on rollers.
"""
Roller.__init__(self, "JointRoller")
self.rollers = rollers
self.parents = rollers
self.cb = MethodCallback(self.move)
for roller in rollers:
roller.addCallback(self.cb)
def __init__(self, *axes):
"""
Constructs AxisChooser from a list of possible Axes and other
AxisChoosers.
"""
Chooser.__init__(self, *axes)
self.extrema = []
self.cb = MethodCallback(self.callback)
for n, a in enumerate(self):
a.addCallback(self.cb, n, a)
self.extrema.append([0, 0])
def __init__(self, *rollers):
"""
Constructs RollerChooser from a list of possible Rollers and other
RollerChoosers.
"""
Chooser.__init__(self, *rollers)
self.totals = []
self.cb = MethodCallback(self.callback)
for n, r in enumerate(self):
r.addCallback(self.cb, n, r)
self.totals.append(0.0)
def __init__(self, *set):
"""
Create EitherButton. Arguments of buttons to be included in
the set.
"""
Button.__init__(self, "Button set (OR)")
self.state = []
self.set = set
self.cb = MethodCallback(self.callback)
for n, button in enumerate(set):
button.addCallback(self.cb, n)
self.state.append(button.isPressed())
def __init__(self, *combo):
"""
Create ButtonCombo. Arguments of buttons to be included in
the combination.
"""
Button.__init__(self, "Button combination (AND)")
self.state = []
self.combo = combo
self.cb = MethodCallback(self.callback)
for n, button in enumerate(combo):
button.addCallback(self.cb, n)
self.state.append(button.isPressed())
def __init__(self, *axes):
"""
Arguments are taken as source axes.
"""
Axis.__init__(self, "JointAxis", min(map(getPosMin, axes)),
max(map(getPosMax, axes)))
self.axes = axes
self.cb = MethodCallback(self.callback)
self.positions = []
for n, axis in enumerate(axes):
axis.addCallback(self.cb, n)
self.positions.append(0.0)
self.parents = axes
self.sum = 0.0
def __init__(self, axis1, axis2, name=None):
"""
"""
if name == None:
name = "AxisScaledAxis (%s * %s)" % (axis1, axis2)
else:
name = name
Axis.__init__(self, name, axis1.posmin * axis2.posmin,
axis1.posmax * axis2.posmax)
self.axis1 = axis1
self.axis2 = axis2
self.cb = MethodCallback(self.callback)
axis1.addCallback(self.cb)
axis2.addCallback(self.cb)
self.parents = (axis1, axis2)
def __init__(self, axis, low=0.9, high=1.0, name=None):
"""
Create AxisButton from axis such that this Button is
considered pressed when the position of axis falls between low
and high.
"""
if name == None:
name = "AxisButton from %s" % (axis.name)
else:
name = name
Button.__init__(self, name)
self.axis = axis
self.low = low
self.high = high
self.cb = MethodCallback(self.callback)
axis.addCallback(self.cb)
def __init__(self, roller, axis, factor=1.0, name=None):
"""
Create AxisScaledRoller.
"""
if name == None:
name = "AxisScaledRoller (%s * %s * %f)" % (roller.name, axis.name,
factor)
else:
name = name
Roller.__init__(self, name)
self.roller = roller
self.parents = [roller]
self.axis = axis
self.factor = factor
self.cb = MethodCallback(self.callback)
roller.addCallback(self.cb)
def __init__(self, axis, maxVel=None, maxAccel=None, name=None):
"""
"""
if name == None:
name = "ThrottledAxis from %s" % axis.name
else:
name = name
Axis.__init__(self, name, axis.posmin, axis.posmax)
self.axis = axis
self.lasttime = timing.now()
self.lastpos = axis.getPosition()
self.lastspeed = 0.0
self.maxVel = maxVel
self.maxAccel = maxAccel
self.cb = MethodCallback(self.callback)
axis.addCallback(self.cb)
self.parents = (axis, )
def __init__(self, roller, min=-1.0, max=1.0, start=0.0, name=None):
"""
Create RollerAxis from roller. min, max, and start may be
used to specify minimum position, maximum position, and
starting position, respectively.
"""
if name == None:
name = "RollerAxis from %s" % roller.name
else:
name = name
Axis.__init__(self, name, min, max)
self.roller = roller
self.min = min
self.max = max
self.setPosition(start)
self.cb = MethodCallback(self.callback)
roller.addCallback(self.cb)
def __init__(self, axis, scale, rscale=None, name=None):
"""
Create ScaledAxis based on axis with specified scale.
"""
if name == None:
name = "ScaledAxis (%s * %f)" % (axis.name, scale)
else:
name = name
if rscale is None:
rscale = scale
Axis.__init__(self, name, axis.posmin * scale, axis.posmax * scale)
self.axis = axis
self.scale = scale
self.rscale = rscale
self.cb = MethodCallback(self.callback)
axis.addCallback(self.cb)
self.parents = (axis, )
def __init__(self, roller, scale, reverse_scale=None, name=None):
"""
Create ScaledRoller with 'scale' and optionally different
'reverse_scale'.
"""
if name == None:
name = "ScaledRoller from %s" % roller.name
else:
name = name
Roller.__init__(self, name)
if reverse_scale == None:
self.reverse_scale = scale
else:
self.reverse_scale = reverse_scale
self.forward_scale = scale
self.roller = roller
self.parents = [roller]
self.cb = MethodCallback(self.callback)
roller.addCallback(self.cb)
def __init__(self, roller, maxAccel=None, maxVel=None, name=None):
"""
Create a ThrottledRoller with maxAccel roller units per
millisecond per millisecond maximum acceleration and maxVel
roller units per millisecond maximum velocity. None for
either of those values means that the constraint will not be
applied.
"""
if name == None:
name = "ThrottledRoller from %s" % roller.name
else:
name = name
Roller.__init__(self, name)
self.roller = roller
self.parents = [roller]
self.maxAccel = maxAccel
self.maxVel = maxVel
self.accum = 0.0
self.lastvelocity = 0.0
self.lasttime = timing.now()
self.cb = MethodCallback(self.callback)
roller.addCallback(self.cb)