Example #1
0
 def __init__ (self):
     Inter.__init__ (self)
     self.node = Node ()
     self.asserv_link = asserv.Mex (self.node)
     self.asserv_link.position.register (self.notify_position)
     self.asserv_link.aux[0].register (self.notify_aux0)
     self.io_link = io.Mex (self.node)
     self.notify_jack ()
     self.notify_color_switch ()
     self.jackVar.trace_variable ('w',
             lambda *args: self.notify_jack ())
     self.colorVar.trace_variable ('w',
             lambda *args: self.notify_color_switch ())
     for i in range (len (self.io_link.servo)):
         self.io_link.servo[i].register (
                 lambda i = i: self.notify_servo (i))
     self.tk.createfilehandler (self.node, READABLE, self.read)
     self.date = 0
     self.synced = True
     self.step_after = None
     self.step_time = None
     self.obstacles = [ ]
     self.dist_sensors = [
             DistSensor (self.tableview.robot, (150, 127), 0, 800),
             DistSensor (self.tableview.robot, (150, 0), 0, 800),
             DistSensor (self.tableview.robot, (150, -127), 0, 800),
             DistSensor (self.tableview.robot, (-70, 100), pi, 800),
             DistSensor (self.tableview.robot, (-70, -100), pi, 800),
             ]
     for s in self.dist_sensors:
         s.obstacles = self.obstacles
         s.hide = True
         s.register (self.update_sharps)
     self.path = Path (self.tableview.table)
     self.io_link.path.register (self.notify_path)
Example #2
0
 def createWidgets (self):
     Inter.createWidgets (self)
     self.nowLabel = Label (self.rightFrame, text = 'Now: 0 s')
     self.nowLabel.pack ()
     self.stepButton = Button (self.rightFrame, text = 'Step',
             command = self.step)
     self.stepButton.pack ()
     self.stepSizeScale = Scale (self.rightFrame, orient = HORIZONTAL,
             from_ = 0.05, to = 1.0, resolution = 0.05)
     self.stepSizeScale.pack ()
     self.playVar = IntVar ()
     self.playButton = Checkbutton (self.rightFrame, variable =
             self.playVar, text = 'Play', command = self.play)
     self.playButton.pack ()
     self.tableview.bind ('<2>', self.place_obstacle)
     self.showSensorsVar = IntVar ()
     self.showSensorsButton = Checkbutton (self.sensorFrame, variable =
             self.showSensorsVar, text = 'Show sensors', command =
             self.show_sensors)
     self.showSensorsButton.pack ()