from Drive import Drive import math def assert_wheels(): assert math.fabs(drive.wheels[0].speed <= 1.0) assert math.fabs(drive.wheels[1].speed <= 1.0) assert math.fabs(drive.wheels[2].speed <= 1.0) assert drive.wheels[0].angle > 0 or drive.wheels[0].angle < 360 assert drive.wheels[1].angle > 0 or drive.wheels[1].angle < 360 assert drive.wheels[2].angle > 0 or drive.wheels[2].angle < 360 drive = Drive() for i in range(10**3): drive.turn(math.sin(i*(math.pi/36))) assert_wheels() drive.crab(i, math.sin(i*(math.pi/36))) assert_wheels() print "Passed"
class GUI(object): """ Creates a GUI instance. @type root: Tkinter.Tk() @param root: A Tkinter.Tk object @type canvas_width: number @param canvas_width: The width of the canvas, in pixels @type canvas_height: number @param canvas_height: The height of the canvas, in pixels @type radius: number @param radius: The length of the diagonal of the rectangle representing a wheel """ def __init__(self, root, joystick=None, canvas_width=1000, canvas_height=1000, radius=20, wheel_diagonal=10): self.joystick = joystick # Canvas on which to draw graphics self.w = Canvas(root, width=canvas_width, height=canvas_height) self.w.pack() self.drive = Drive(0, Point(canvas_width/2, canvas_height/2), radius) self.wheel_diagonal = wheel_diagonal self.s_wheels = [] # Draw the chassis of the robot. "s" stands for "shape" self.s_drive = self.w.create_polygon(self.drive.wheels[0].center.x, self.drive.wheels[0].center.y, self.drive.wheels[1].center.x, self.drive.wheels[1].center.y, self.drive.wheels[2].center.x, self.drive.wheels[2].center.y, fill="#3E3E3E") self.s_frontedge = self.w.create_line(self.drive.wheels[0].center.x, self.drive.wheels[0].center.y, self.drive.wheels[1].center.x, self.drive.wheels[1].center.y, fill="#22A7F0", width=3.0) # Draw the wheels of the robot for wheel in self.drive.wheels: self.s_wheels.append(self.w.create_polygon(wheel.center.x-wheel_diagonal/4, wheel.center.y+math.sqrt(3)*wheel_diagonal/2, wheel.center.x+wheel_diagonal/4, wheel.center.y+math.sqrt(3)*wheel_diagonal/2, wheel.center.x+wheel_diagonal/4, wheel.center.y-math.sqrt(3)*wheel_diagonal/2, wheel.center.x-wheel_diagonal/4, wheel.center.y-math.sqrt(3)*wheel_diagonal/2, stipple="gray75")) """ Animates the turning of the robot. @type speed: number @param speed: The speed at which the robot should turn """ def robot_turn(self, speed): self.drive.turn(speed) self.update_robot() for i in range(0, 3): self.build_rectangle(self.s_wheels[i], self.drive.center, self.drive.angle) self.w.update() """ Animates the translational crab motion of the robot. @type angle: number @param speed: The angle at which the robot should move @type speed: number @param speed: The speed at which the robot should move """ def robot_crab(self, angle, speed): self.drive.crab(angle, speed) self.update_robot() self.w.update() """ Redraws the robot on the field. """ def update_robot(self): self.w.coords(self.s_drive, self.drive.wheels[0].center.x, self.drive.wheels[0].center.y, self.drive.wheels[1].center.x, self.drive.wheels[1].center.y, self.drive.wheels[2].center.x, self.drive.wheels[2].center.y) self.w.coords(self.s_frontedge, self.drive.wheels[0].center.x, self.drive.wheels[0].center.y, self.drive.wheels[2].center.x, self.drive.wheels[2].center.y) """ Redraws a robot wheel. @type wr_angle: number @param wr_angle: The angle of the wheel to the robot's axis perpendicular to the front edge. """ def build_rectangle(self, shape, wheel, wr_angle=0): wf_angle = self.drive.angle - wr_angle # Angle of wheel to the field, where the north direction is 0 dx = math.sin(wf_angle)*self.wheel_diagonal/2 dy = math.cos(wf_angle)*self.wheel_diagonal/2 w.coords(shape, wheel.center.x+)
