def evaluate (self):
old = self.distance
# Compute real distance.
DistanceSensor.evaluate (self)
# Update observers.
if self.distance != old:
self.notify ()
def __init__ (self, link, scheduler, table, pos, angle, into = None,
level = 0, exclude = exclude):
Observable.__init__ (self)
DistanceSensor.__init__ (self, table, pos, angle, self.RANGE, into,
level, exclude)
self.link = link
self.scheduler = scheduler
self.value = None
self.register (self.__update)
self.evaluate ()
def evaluate (self):
# Compute real distance.
DistanceSensor.evaluate (self)
# Convert to sharps voltage.
d = self.distance
if self.distance is None:
d = self.RANGE
if d < self.NEAR:
self.value = d / self.NEAR * (self.A + self.B / self.NEAR)
else:
self.value = self.A + self.B / d
# Update observers.
self.notify ()
# Prepare next update.
self.scheduler.schedule (self.scheduler.date
+ int (self.scheduler.tick * 0.040), self.evaluate)
def evaluate (self):
# Compute real distance.
DistanceSensor.evaluate (self)
# Convert to sensor voltage.
d = self.distance
if self.distance is None:
d = self.RANGE
if d < 22.5:
self.value = -0.014 * d * d + 0.41 * d + 7
else:
self.value = -0.657 + 220.431 / d
self.value *= 0.1 * self.factor
# Update observers.
self.notify ()
# Prepare next update.
self.scheduler.schedule (self.scheduler.date
+ int (self.scheduler.tick * 0.03), self.evaluate)
def __init__ (self, *args):
Observable.__init__ (self)
DistanceSensor.__init__ (self, *args)
