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)
