def __init__ (self):
sp.Module.__init__ (self)
self.blinkingTimer = sp.Timer ()
self.blinkingLight = sp.Marker ()
self.pulse = sp.Oneshot ()
self.counter = sp.Register ()
self.run = sp.Runner ()
def __init__(self):
sp.Module.__init__(self)
self.page('rocket control')
self.group('gimbal angle controls blue/yellow', True)
self.toYellow = sp.Marker()
self.toBlue = sp.Marker()
self.group('gimbal angle state blue/yellow')
self.blueYellowDelta = sp.Register()
self.blueYellowAngle = sp.Register()
self.group('thruster angle controls green/red', True)
self.toRed = sp.Marker()
self.toGreen = sp.Marker()
self.group('thruster angle state green/red')
self.greenRedDelta = sp.Register()
self.greenRedAngle = sp.Register()
self.group('fuel throttle controls', True)
self.throttleOpen = sp.Marker()
self.throttleClose = sp.Marker()
self.group('fuel throttle state')
self.throttleDelta = sp.Register()
self.throttlePercent = sp.Register()
def __init__(self):
sp.Module.__init__(self)
self.page('lidar control')
self.group('inputs', True)
self.driveEnabled = sp.Marker()
self.nearestObstacleDistance = sp.Register(sp.finity)
self.nearestObstacleAngle = sp.Register(0)
self.nextObstacleDistance = sp.Register(sp.finity)
self.nextObstacleAngle = sp.Register(0)
self.targetObstacleDistance = sp.Register(sp.finity)
self.targetObstacleAngle = sp.Register(0)
self.velocity = sp.Register(0)
self.group('outputs')
self.targetVelocity = sp.Register()
self.steeringAngle = sp.Register(30)
def __init__(self):
sp.Module.__init__(self)
self.page('motion control')
self.group('driver input', True)
self.targetVelocityStep = sp.Register(0)
self.steeringAngleStep = sp.Register(2)
self.group('control output')
self.targetVelocity = sp.Register()
self.steeringAngle = sp.Register()
self.group('sweep time measurement', True)
self.sweepMin = sp.Register(1000)
self.sweepMax = sp.Register()
self.sweepWatch = sp.Timer()
self.run = sp.Runner()
def __init__(self):
simpylc.Module.__init__(self)
self.page('BassieStove!')
# ############# Constants #############
self.group('Page constants', True)
self.PAGE_LOCK = simpylc.Register()
self.PAGE_ALARM = simpylc.Register()
self.PAGE_MAIN = simpylc.Register()
self.PAGE_SELECT_STOVE = simpylc.Register()
self.PAGE_CHANGE_STOVE = simpylc.Register()
self.PAGE_VIEW_TIMER = simpylc.Register()
self.PAGE_CHANGE_TIMER = simpylc.Register()
self.group('Lock constants')
self.LOCK_COUNT = simpylc.Register()
self.group('Stove constants')
self.STOVE_COUNT = simpylc.Register()
self.STOVE_TEMP_MAX = simpylc.Register()
self.STOVE_TEMP_INC = simpylc.Register()
self.group('Timer constants')
self.TIMER_MAX = simpylc.Register()
self.TIMER_INC = simpylc.Register()
# ############# State #############
self.group('Global state', True)
self.randSeed = simpylc.Register()
self.cycleCounter = simpylc.Register()
self.group('Beeper state')
self.beeperEnabled = simpylc.Marker()
self.beeperFrequency = simpylc.Register()
self.group('Page state')
self.page = simpylc.Register()
self.lockCounter = simpylc.Register()
self.selectedLock = simpylc.Register()
self.selectedStove = simpylc.Register(1)
self.updateScreen = simpylc.Marker()
self.updateScreenTimer = simpylc.Timer()
self.group('Timer state')
self.timerTime = simpylc.Register()
self.timerTimer = simpylc.Timer()
self.timerStarted = simpylc.Marker()
self.timerFinished = simpylc.Marker()
# ############# Locals #############
self.group('Lock page locals', True)
self.lock1ButtonTrigger = simpylc.Marker()
self.lock2ButtonTrigger = simpylc.Marker()
self.lock3ButtonTrigger = simpylc.Marker()
self.group('Alarm page locals')
self.alarmTimer = simpylc.Timer()
self.newBeeperFrequency = simpylc.Register()
self.group('Main page locals')
self.changeButtonTrigger = simpylc.Marker()
self.timerButtonTrigger = simpylc.Marker()
self.lockButtonTrigger = simpylc.Marker()
self.group('Select stove page locals')
self.selectButtonTrigger = simpylc.Marker()
self.newSelectedStove = simpylc.Register()
self.leftButtonTrigger = simpylc.Marker()
self.rightButtonTrigger = simpylc.Marker()
self.group('Change stove page locals', True)
self.backButtonTrigger = simpylc.Marker()
self.newStove1Temperature = simpylc.Register()
self.newStove2Temperature = simpylc.Register()
self.newStove3Temperature = simpylc.Register()
self.newStove4Temperature = simpylc.Register()
self.downButtonTrigger = simpylc.Marker()
self.upButtonTrigger = simpylc.Marker()
self.group('View timer page locals')
self.back2ButtonTrigger = simpylc.Marker()
self.createStopButtonTrigger = simpylc.Marker()
self.group('Change timer page locals')
self.startButtonTrigger = simpylc.Marker()
self.newTimerTime = simpylc.Register()
self.down2ButtonTrigger = simpylc.Marker()
self.up2ButtonTrigger = simpylc.Marker()
# ############# Stoves #############
self.group('Stoves', True)
# Stove 1
self.stove1Value = simpylc.Register()
self.stove1Target = simpylc.Register()
# Stove 2
self.stove2Value = simpylc.Register()
self.stove2Target = simpylc.Register()
# Stove 3
self.stove3Value = simpylc.Register()
self.stove3Target = simpylc.Register()
# Stove 4
self.stove4Value = simpylc.Register()
self.stove4Target = simpylc.Register()
# ############# Buttons #############
self.group('Buttons')
# Left button
self.leftButton = simpylc.Marker()
self.leftButtonOneshot = simpylc.Oneshot()
self.leftButtonHandled = simpylc.Marker()
# Middle button
self.middleButton = simpylc.Marker()
self.middleButtonOneshot = simpylc.Oneshot()
self.middleButtonHandled = simpylc.Marker()
# Right button
self.rightButton = simpylc.Marker()
self.rightButtonOneshot = simpylc.Oneshot()
self.rightButtonHandled = simpylc.Marker()
def __init__(self):
sp.Module.__init__(self)
self.page('sailboat')
self.group('transform', True)
self.position_x = sp.Register()
self.position_y = sp.Register()
self.position_z = sp.Register()
self.sailboat_rotation = sp.Register()
self.group('body')
self.mass = sp.Register(20)
self.group('velocity')
self.drag = sp.Register()
self.drag_deacceleration = sp.Register()
self.acceleration = sp.Register()
self.forward_velocity = sp.Register()
self.horizontal_velocity = sp.Register()
self.vertical_velocity = sp.Register()
self.head_wind_force = sp.Register()
self.group('sail')
self.target_sail_angle = sp.Register()
self.local_sail_angle = sp.Register()
self.global_sail_angle = sp.Register()
self.sail_alpha = sp.Register()
self.perpendicular_sail_force = sp.Register()
self.forward_sail_force = sp.Register()
self.apparent_wind = sp.Register()
self.apparent_wind_angle = sp.Register()
self.boot_wind = sp.Register()
self.alfa = sp.Register()
self.boot_direction = sp.Register()
self.head_wind_direction = sp.Register()
self.true_apparent_wind = sp.Register()
self.group('rudder')
self.target_gimbal_rudder_angle = sp.Register(0)
self.gimbal_rudder_angle = sp.Register(0)
self.rotation_speed = sp.Register()
self.group('pause')
self.pause = sp.Marker()
def __init__ (self):
sp.Module.__init__ (self)
self.page ('car physics')
self.group ('wheels', True)
self.acceleration = sp.Register (2)
self.targetVelocity= sp.Register ()
self.velocity = sp.Register ()
self.midWheelAngularVelocity = sp.Register ()
self.midWheelAngle = sp.Register (30)
self.steeringAngle = sp.Register ()
self.midSteeringAngle = sp.Register ()
self.inverseMidCurveRadius = sp.Register (20)
self.midAngularVelocity = sp.Register ()
self.attitudeAngle = sp.Register (50)
self.courseAngle = sp.Register ()
self.tangentialVelocity = sp.Register ()
self.velocityX = sp.Register ()
self.velocityY = sp.Register ()
self.positionX = sp.Register ()
self.positionY = sp.Register ()
self.radialAcceleration = sp.Register ()
self.slipping = sp.Marker ()
self.radialVelocity = sp.Register ()
def __init__(self):
sp.Module.__init__(self)
self.page('rocket physics')
self.group('gimbal angle blue/yellow', True)
self.blueYellowDelta = sp.Register()
self.blueYellowRoughAngle = sp.Register()
self.blueYellowAngle = sp.Register()
self.group('thruster angle green/red')
self.greenRedDelta = sp.Register()
self.greenRedRoughAngle = sp.Register()
self.greenRedAngle = sp.Register()
self.group('fuel throttle')
self.throttleDelta = sp.Register()
self.throttlePercent = sp.Register()
self.thrust = sp.Register()
self.group('ship')
self.shipMass = sp.Register(5000)
self.effectiveRadius = sp.Register(0.15)
self.effectiveHeight = sp.Register(1.5)
self.thrusterTiltSpeed = sp.Register(30)
self.thrusterMaxAngle = sp.Register(90)
self.throttleSpeed = sp.Register(20)
self.thrusterMaxForce = sp.Register(100000)
self.group('sweep time measurement')
self.sweepMin = sp.Register(1000)
self.sweepMax = sp.Register()
self.sweepWatch = sp.Timer()
self.run = sp.Runner()
self.group('linear accelleration', True)
self.linAccelX = sp.Register()
self.linAccelY = sp.Register()
self.linAccelZ = sp.Register()
self.group('linear velocity')
self.linVelocX = sp.Register()
self.linVelocY = sp.Register()
self.linVelocZ = sp.Register()
self.group('position')
self.positionX = sp.Register()
self.positionY = sp.Register()
self.positionZ = sp.Register(cm.earthDiam / 2)
self.group('thrust in ship frame')
self.forwardThrust = sp.Register()
self.blueYellowThrust = sp.Register()
self.greenRedThrust = sp.Register()
self.group('thrust in world frame')
self.thrustX = sp.Register()
self.thrustY = sp.Register()
self.thrustZ = sp.Register()
self.group('angular acceleration', True)
self.angAccelX = sp.Register()
self.angAccelY = sp.Register()
self.angAccelZ = sp.Register()
self.group('angular velocity')
self.angVelocX = sp.Register()
self.angVelocY = sp.Register()
self.angVelocZ = sp.Register()
self.group('torques in ship frame')
self.blueYellowTorque = sp.Register()
self.greenRedTorque = sp.Register()
self.group('torques in world frame')
self.torqueX = sp.Register()
self.torqueY = sp.Register()
self.torqueZ = sp.Register()
if cm.useQuaternions:
self._shipRotQuat = sp.quatFromAxAng(np.array((1, 0, 0)), 0)
self.group('ship rotation quaternion')
self.shipRotQuat0 = sp.Register()
self.shipRotQuat1 = sp.Register()
self.shipRotQuat2 = sp.Register()
self.shipRotQuat3 = sp.Register()
self._shipRotMat = sp.rotMatFromQuat(self._shipRotQuat)
else:
self._shipRotMat = np.array(
[ # Columns are tangent (front), normal (up) and binormal (starboard) of ship
[1, 0, 0], [0, 1, 0], [0, 0, 1]
])
self.group('attitude')
self.attitudeX = sp.Register()
self.attitudeY = sp.Register()
self.attitudeZ = sp.Register()
self.group('earth gravity', True)
self.distEarthSurf = sp.Register()
self.earthGravX = sp.Register()
self.earthGravY = sp.Register()
self.earthGravZ = sp.Register()
self.group('moon gravity')
self.distMoonSurf = sp.Register()
self.moonGravX = sp.Register()
self.moonGravY = sp.Register()
self.moonGravZ = sp.Register()
self.group('total force')
self.totalForceX = sp.Register()
self.totalForceY = sp.Register()
self.totalForceZ = sp.Register()
def __init__ (self):
sp.Module.__init__ (self)
self.page ('Trafic lights')
self.group ('Timers', True)
self.regularPhaseTimer = sp.Timer ()
self.cyclePhaseTimer = sp.Timer ()
self.tBlink = sp.Register (0.3)
self.blinkTimer = sp.Timer ()
self.blinkPulse = sp.Oneshot ()
self.blink = sp.Marker ()
self.group ('Mode switching')
self.modeButton = sp.Marker ()
self.modePulse = sp.Oneshot ()
self.modeStep = sp.Register ()
self.regularMode = sp.Marker (True)
self.cycleMode = sp.Marker ()
self.nightMode = sp.Marker ()
self.offMode = sp.Marker ()
self.group ('Regular mode phases', True)
self.northSouthGreen = sp.Marker (True)
self.northSouthBlink = sp.Marker ()
self.eastWestGreen = sp.Marker ()
self.eastWestBlink = sp.Marker ()
self.group ('Cycle mode phases')
self.northGreen = sp.Marker ()
self.northBlink = sp.Marker ()
self.eastGreen = sp.Marker ()
self.eastBlink = sp.Marker ()
self.southGreen = sp.Marker ()
self.southBlink = sp.Marker ()
self.westGreen = sp.Marker ()
self.westBlink = sp.Marker ()
self.group ('Lamps')
self.northGreenLamp = sp.Marker ()
self.northYellowLamp = sp.Marker ()
self.northRedLamp = sp.Marker ()
self.eastGreenLamp = sp.Marker ()
self.eastYellowLamp = sp.Marker ()
self.eastRedLamp = sp.Marker ()
self.southGreenLamp = sp.Marker ()
self.southYellowLamp = sp.Marker ()
self.southRedLamp = sp.Marker ()
self.westGreenLamp = sp.Marker ()
self.westYellowLamp = sp.Marker ()
self.westRedLamp = sp.Marker ()
self.group ('Regular phase end times', True)
self.tNorthSouthGreen = sp.Register (5)
self.tNorthSouthBlink = sp.Register (7)
self.tEastWestGreen = sp.Register (12)
self.tEastWestBlink = sp.Register (14)
self.group ('Cycle phase end times')
self.tNorthGreen = sp.Register (5)
self.tNorthBlink = sp.Register (7)
self.tEastGreen = sp.Register (12)
self.tEastBlink = sp.Register (14)
self.tSouthGreen = sp.Register (19)
self.tSouthBlink = sp.Register (21)
self.tWestGreen = sp.Register (26)
self.tWestBlink = sp.Register (28)
self.group ('Street illumination')
self.brightButton = sp.Marker ()
self.brightPulse = sp.Oneshot ()
self.brightDirection = sp.Marker (True)
self.brightMin = sp.Register (2047)
self.brightMax = sp.Register (4095)
self.brightFluxus = sp.Register (200)
self.brightDelta = sp.Register ()
self.streetLamp = sp.Register (2047)
self.group ('System')
self.runner = sp.Runner ()
def __init__(self):
sp.Module.__init__(self)
self.page('robot physics')
self.group('torso electronics', True)
self.torVolt = sp.Register()
self.torEnab = sp.Marker()
self.torGain = sp.Register(2)
self.torMax = sp.Register(20)
self.group('torso mechanics')
self.torInert = sp.Register(8)
self.torTorq = sp.Register()
self.torBrake = sp.Marker()
self.torAccel = sp.Register()
self.torSpeed = sp.Register()
self.torAng = sp.Register()
self.group('upper arm electronics', True)
self.uppVolt = sp.Register()
self.uppEnab = sp.Marker()
self.uppGain = sp.Register(2)
self.uppMax = sp.Register(20)
self.group('upper arm mechanics')
self.uppInert = sp.Register(4)
self.uppTorq = sp.Register()
self.uppBrake = sp.Marker()
self.uppAccel = sp.Register()
self.uppSpeed = sp.Register()
self.uppAng = sp.Register()
self.group('fore arm electronics', True)
self.forVolt = sp.Register()
self.forEnab = sp.Marker()
self.forGain = sp.Register(2)
self.forMax = sp.Register(20)
self.group('fore arm mechanics')
self.forInert = sp.Register(2)
self.forTorq = sp.Register()
self.forBrake = sp.Marker()
self.forAccel = sp.Register()
self.forSpeed = sp.Register()
self.forAng = sp.Register()
self.forShift = sp.Register()
self.group('wrist electronics', True)
self.wriVolt = sp.Register()
self.wriEnab = sp.Marker()
self.wriGain = sp.Register(2)
self.wriMax = sp.Register(20)
self.group('wrist mechanics')
self.wriInert = sp.Register(1)
self.wriTorq = sp.Register()
self.wriBrake = sp.Marker()
self.wriAccel = sp.Register()
self.wriSpeed = sp.Register()
self.wriAng = sp.Register()
self.group('hand and finger servos', True)
self.hanAngSet = sp.Register()
self.hanAng = sp.Register()
self.hanEnab = sp.Marker()
self.finAngSet = sp.Register()
self.finAng = sp.Register()
self.finEnab = sp.Marker()
def __init__(self):
sp.Module.__init__(self)
self.page('movement control')
self.group('torso drive control', True)
self.torVoltFac = sp.Register(0.8)
self.torVoltMax = sp.Register(10)
self.torVolt = sp.Register()
self.torEnab = sp.Marker()
self.group('torso angle')
self.torAngSet = sp.Register()
self.torAng = sp.Register()
self.torAngOld = sp.Register()
self.torAngDif = sp.Register()
self.torMarg = sp.Register(15)
self.torRound = sp.Marker()
self.torSpeedFac = sp.Register(0.5)
self.torSpeedMax = sp.Register(20)
self.torSpeedSet = sp.Register()
self.torSpeed = sp.Register()
self.torSpeedDif = sp.Register()
self.group('general')
self.go = sp.Marker()
self.group('upper arm drive control', True)
self.uppVoltFac = sp.Register(0.25)
self.uppVoltMax = sp.Register(10)
self.uppVolt = sp.Register()
self.uppEnab = sp.Marker()
self.group('upper arm angle')
self.uppAngSet = sp.Register()
self.uppAng = sp.Register()
self.uppAngOld = sp.Register()
self.uppAngDif = sp.Register()
self.uppMarg = sp.Register(15)
self.uppRound = sp.Marker()
self.uppSpeedFac = sp.Register(0.5)
self.uppSpeedMax = sp.Register(20)
self.uppSpeedSet = sp.Register()
self.uppSpeed = sp.Register()
self.uppSpeedDif = sp.Register()
self.group('fore arm drive control', True)
self.forVoltFac = sp.Register(0.25)
self.forVoltMax = sp.Register(10)
self.forVolt = sp.Register()
self.forEnab = sp.Marker()
self.group('fore arm angle')
self.forAngSet = sp.Register()
self.forAng = sp.Register()
self.forAngOld = sp.Register()
self.forAngDif = sp.Register()
self.forMarg = sp.Register(15)
self.forRound = sp.Marker()
self.forSpeedFac = sp.Register(0.5)
self.forSpeedMax = sp.Register(20)
self.forSpeedSet = sp.Register()
self.forSpeed = sp.Register()
self.forSpeedDif = sp.Register()
self.group('wrist drive control', True)
self.wriVoltFac = sp.Register(0.25)
self.wriVoltMax = sp.Register(10)
self.wriVolt = sp.Register()
self.wriEnab = sp.Marker()
self.group('wrist angle')
self.wriAngSet = sp.Register()
self.wriAng = sp.Register()
self.wriAngOld = sp.Register()
self.wriAngDif = sp.Register()
self.wriMarg = sp.Register(3)
self.wriRound = sp.Marker()
self.wriSpeedFac = sp.Register(0.5)
self.wriSpeedMax = sp.Register(20)
self.wriSpeedSet = sp.Register()
self.wriSpeed = sp.Register()
self.wriSpeedDif = sp.Register()
self.group('hand and fingers setpoints', True)
self.hanAngSet = sp.Register()
self.hanEnab = sp.Marker()
self.finAngSet = sp.Register()
self.finEnab = sp.Marker()
self.finDelay = sp.Register(1)
self.finTimer = sp.Timer()
self.finLatch = sp.Latch()
self.group('sweep time measurement')
self.sweepMin = sp.Register(1000)
self.sweepMax = sp.Register()
self.sweepWatch = sp.Timer()
self.run = sp.Runner()
def __init__(self):
sp.Module.__init__(self)
self.page('Four plate stove control with cooking alarm')
self.group('General buttons', True)
self.powerButton = sp.Marker()
self.powerEdge = sp.Oneshot()
self.power = sp.Marker()
self.group()
self.childLockButton = sp.Marker()
self.childLockChangeTimer = sp.Timer()
self.childLockEdge = sp.Oneshot()
self.childLock = sp.Marker()
self.unlocked = sp.Marker()
self.group('Plate selection')
self.plateSelectButton = sp.Marker()
self.plateSelectEdge = sp.Oneshot()
self.plateSelectDelta = sp.Register()
self.plateSelectNr = sp.Register()
self.tempDelta = sp.Register()
self.tempChange = sp.Marker()
self.group('Up/down buttons')
self.upButton = sp.Marker()
self.upEdge = sp.Oneshot()
self.group()
self.downButton = sp.Marker()
self.downEdge = sp.Oneshot()
self.group('Cooking plates', True)
self.plate0Temp = sp.Register()
self.plate0Selected = sp.Marker()
self.group()
self.plate1Temp = sp.Register()
self.plate1Selected = sp.Marker()
self.group()
self.plate2Temp = sp.Register()
self.plate2Selected = sp.Marker()
self.group()
self.plate3Temp = sp.Register()
self.plate3Selected = sp.Marker()
self.group('Alarm selection button')
self.alarmSelectButton = sp.Marker()
self.alarmSelectEdge = sp.Oneshot()
self.alarmSelected = sp.Marker()
self.alarmTime = sp.Register()
self.alarmTimer = sp.Timer()
self.alarmOn = sp.Latch()
self.alarmEdge = sp.Oneshot()
self.alarmTimeLeft = sp.Register()
self.alarmChangeTimer = sp.Timer()
self.alarmChangeStep = sp.Register()
self.alarmDelta = sp.Register()
self.group('Numerical displays', True)
self.digitIndex = sp.Register()
self.plateDigitValue = sp.Register()
self.alarmDigitValue = sp.Register()
self.digitValue = sp.Register()
self.digitDot = sp.Marker()
self.group('Buzzer')
self.buzzerOnTime = sp.Register(6)
self.buzzerOnTimer = sp.Timer()
self.buzzerOn = sp.Latch()
self.buzzerBaseFreq = sp.Register(300.)
self.buzzerPitchTimer = sp.Timer()
self.buzzerFreq = sp.Register()
self.buzzerWaveTimer = sp.Timer()
self.buzzerEdge = sp.Oneshot()
self.buzzer = sp.Marker()
self.group('System')
self.sweepMin = sp.Register(1000)
self.sweepMax = sp.Register()
self.sweepWatch = sp.Timer()
self.run = sp.Runner()