class Actionneur(object): def __init__(self): self.rotation = 0 self.avance = 0 self.cote = 0 self.move = Mouvements() def go_left(self, activer): self.modifier_vitesse(0, 0, +1 if activer else -1) def go_right(self, activer): self.modifier_vitesse(0, 0, -1 if activer else +1) def go_north(self, activer): self.modifier_vitesse(+1 if activer else -1, 0, 0) def go_south(self, activer): self.modifier_vitesse(-1 if activer else +1, 0, 0) def go_west(self, activer): self.modifier_vitesse(0, +1 if activer else -1, 0) def go_est(self, activer): self.modifier_vitesse(0, -1 if activer else +1, 0) def stiffness(self, activer): self.move.stiffness(activer) def record(self): self.move.record() def assis(self): self.move.go_assis() def debout(self): self.move.go_debout() def last_pose(self): self.move.apply_joints_from_file(True) def save_joints(self, save): if save: self.move.save_joints(True) else: self.move.apply_joints_from_file(False) def vitesse_tete(self, vx, vy): self.move.move_head(vx, vy) def modifier_vitesse(self, dx, dy, dth): self.rotation += dth self.avance += dx self.cote += dy print "vx =", self.avance, "\tvy =", self.cote, "\tvth =", self.rotation print "------------------------------------------------" if self.avance == +1: self.move.set_vx(+0.7) elif self.avance == -1: self.move.set_vx(-0.7) else: self.move.set_vx(+0.0) if self.cote == +1: self.move.set_vy(+0.7) elif self.cote == -1: self.move.set_vy(-0.7) else: self.move.set_vy(+0.0) if self.rotation == +1: self.move.set_vth(+0.7) elif self.rotation == -1: self.move.set_vth(-0.7) else: self.move.set_vth(+0.0) self.move.go_move() def quitter(self): pass;
def __init__(self): self.rotation = 0 self.avance = 0 self.cote = 0 self.move = Mouvements()
def mouv(self):
# supression des widgets présents sur la fenêtre
for widget in self.winfo_children():
widget.pack_forget()
Mouvements(self)
