def clamp_command (self):
if self.clamp_var.get ():
self.mimot.clamp ('a0', 0x60, 0x100)
self.mimot.clamp ('a1', 0x60, 0x100)
else:
self.mimot.goto_pos ('a0', 0)
self.mimot.goto_pos ('a1', 0)
def elevator_command (self):
if self.elevator_var.get ():
pos = 7089
else:
pos = 0
self.asserv.goto_pos ('a0', pos)
def gate_command (self):
if self.gate_var.get ():
pos = -0x1d6b
else:
pos = 0
self.asserv.goto_pos ('a1', pos)
def loader_up_command (self):
self.io.loader ('u')
def loader_down_command (self):
self.io.loader ('d')
if __name__ == '__main__':
run ('marcel', TestSimuControl)
self.backward_button.pack ()
self.goto_var = IntVar ()
self.goto_button = Checkbutton (self.control_frame,
text = 'Goto FSM', variable = self.goto_var)
self.goto_button.pack ()
self.table_view.bind ('<1>', self.move)
self.table_view.bind ('<3>', self.orient)
def fsm_debug (self):
self.io.fsm_debug ()
def asserv_block (self):
self.asserv.block ()
def move (self, ev):
pos = self.table_view.screen_coord ((ev.x, ev.y))
if self.goto_var.get ():
self.io.goto (pos[0], pos[1], self.backward_var.get ())
else:
self.asserv.goto (pos[0], pos[1], self.backward_var.get ())
def orient (self, ev):
x, y = self.table_view.screen_coord ((ev.x, ev.y))
robot_pos = self.robot_model.position.pos
if robot_pos is not None:
a = math.atan2 (y - robot_pos[1], x - robot_pos[0])
self.asserv.goto_angle (a)
if __name__ == '__main__':
run ('apbirthday', TestSimuControl)
def rotation_cw_command (self):
self.mimot.speed_pos ('a1', self.ROTATION_STROKE / 2)
def rotation_ccw_command (self):
self.mimot.speed_pos ('a1', -self.ROTATION_STROKE / 2)
def clamp_move_command (self):
self.io.clamp_move (self.clamp_pos_scale.get ())
def clamp_move_element_command (self):
self.io.clamp_move_element (self.clamp_pos_scale.get (),
self.clamp_to_scale.get ())
def doors_command (self):
for i in (0, 2, 3, 5):
self.io.door (i, not self.doors_var.get ())
def drop_command (self):
if self.drop_var.get ():
if self.backward_var.get ():
order = 'drop_backward'
else:
order = 'drop_forward'
else:
order = 'drop_clear'
self.io.drop (order)
if __name__ == '__main__':
run ('robospierre', TestSimuControl)
else:
self.asserv.goto (pos[0], pos[1], self.backward_var.get ())
def orient (self, ev):
x, y = self.table_view.screen_coord ((ev.x, ev.y))
robot_pos = self.robot_model.position.pos
if robot_pos is not None:
a = math.atan2 (y - robot_pos[1], x - robot_pos[0])
self.asserv.goto_angle (a)
def lower_clamp_rotate_command (self):
self.mimot.speed_pos ('a0', self.LOWER_CLAMP_ROTATION_STROKE / 2)
def tree_detected(self):
self.io.tree_detected()
def stop_tree_approach(self):
self.io.stop_tree_approach()
def empty_tree(self):
self.io.empty_tree()
def robot_is_back(self):
self.io.robot_is_back()
def unblock_bottom_clamp(self):
self.io.unblock_bottom_clamp()
if __name__ == '__main__':
run ('guybrush', TestSimuControl)
