def draw (self):
"""Draw the robot."""
self.reset ()
if self.pos is not None:
self.trans_translate (self.pos)
self.trans_rotate (self.angle)
# Draw slots.
for slot in self.clamp_model.slots:
if slot.pawn is not None:
self.trans_push ()
self.trans_scale (1 - slot.z / 1000.0)
self.trans_translate ((slot.x, slot.y))
draw_pawn (self, slot.pawn)
self.trans_pop ()
# Draw clamp.
if self.clamp_model.rotation is not None:
self.trans_push ()
# Fixed side.
self.trans_rotate (self.clamp_model.rotation)
self.draw_arc ((150, 0), 103, start = pi / 2, extent = pi / 2,
style = 'arc', outline = COLOR_CLAMP)
# Draw load.
load = self.clamp_model.load
if load:
self.trans_push ()
self.trans_translate ((150, 0))
draw_pawn (self, load)
self.trans_pop ()
# Mobile side.
self.trans_rotate (- self.clamp_model.clamping / 47)
self.draw_arc ((150, 0), 103, start = pi, extent = pi / 2,
style = 'arc', outline = COLOR_CLAMP)
# Done.
self.trans_pop ()
# Draw robot body.
self.draw_polygon ((0, 190), (150, 110), (95, 95), (55, 55),
(40, -0), (55, -55), (95, -95), (150, -110), (0, -190),
(-150, -110), (-95, -95), (-55, -55), (-40, -0),
(-55, 55), (-95, 95), (-150, 110), (0, 190),
fill = COLOR_ROBOT)
self.draw_arc ((0, 0), 190, start = pi * 35 / 180,
extent = pi * 110 / 180, style = 'chord',
outline = COLOR_ROBOT, fill = COLOR_ROBOT)
self.draw_arc ((0, 0), 190, start = pi + pi * 35 / 180,
extent = pi * 110 / 180, style = 'chord',
outline = COLOR_ROBOT, fill = COLOR_ROBOT)
# Draw Robot axis.
self.draw_line ((-50, 0), (50, 0), fill = COLOR_AXES,
arrow = 'last')
# Draw Robot wheels.
f = 221 # Wheel spacing
wr = 60 / 2 # Wheel radius
self.draw_line ((0, +f / 2), (0, -f / 2), fill = COLOR_AXES)
self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = COLOR_AXES)
self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = COLOR_AXES)
# Extends.
simu.inter.drawable.Drawable.draw (self)
def draw (self):
self.reset ()
# Draw base from top.
self.trans_rotate (pi)
self.draw_arc ((0, 0), 190, start = pi * 35 / 180,
extent = pi * 110 / 180, style = 'arc',
outline = GREY)
self.draw_arc ((0, 0), 190, start = pi + pi * 35 / 180,
extent = pi * 110 / 180, style = 'arc',
outline = GREY)
self.draw_arc ((150, 0), 110, start = pi / 2,
extent = pi, style = 'arc', outline = GREY)
self.draw_arc ((-150, 0), 110, start = 3 * pi / 2,
extent = pi, style = 'arc', outline = GREY)
self.draw_arc ((0, 150), 100, start = pi,
extent = pi, style = 'arc', outline = GREY, dash = (2, 3))
self.draw_line ((-40, 0), (40, 0), fill = GREY, arrow = 'last')
# Draw slots.
for slot in self.model.slots:
if slot.pawn is not None:
self.trans_push ()
self.trans_scale (1 - slot.z / 1000.0)
self.trans_translate ((slot.x, slot.y))
draw_pawn (self, slot.pawn)
self.trans_pop ()
# Draw clamp.
if self.model.rotation is not None:
self.trans_rotate (self.model.rotation)
# Fixed side.
self.draw_line ((0, 3), (47, 3))
self.draw_arc ((150, 0), 103, start = pi / 2, extent = pi / 2,
style = 'arc')
# Pawn.
load = self.model.load
if load is not None:
self.trans_push ()
self.trans_translate ((150, 0))
draw_pawn (self, load)
self.trans_pop ()
# Mobile side.
self.trans_rotate (-self.model.clamping / 43)
self.draw_line ((0, -3), (47, -3))
self.draw_arc ((150, 0), 103, start = pi, extent = pi / 2,
style = 'arc')
