class Bag:
OUTPUT_UPPER_CLAMP_OPEN = 1
OUTPUT_UPPER_CLAMP_OUT = 2
OUTPUT_UPPER_CLAMP_IN = 3
OUTPUT_UPPER_CLAMP_DOWN = 4
OUTPUT_UPPER_CLAMP_UP = 5
OUTPUT_DOOR_OPEN = 6
OUTPUT_DOOR_CLOSE = 7
OUTPUT_LOWER_CLAMP_1_CLOSE = 8
OUTPUT_LOWER_CLAMP_2_CLOSE = 9
def __init__ (self, scheduler, table, link_bag):
self.color_switch = Switch (link_bag.io_hub.contact[0], invert = True)
self.color_switch.state = random.choice ((False, True))
self.color_switch.notify ()
self.jack = Switch (link_bag.io_hub.contact[1], invert = True)
self.strat_switch = Switch (link_bag.io_hub.contact[2], invert = True)
self.nb_robots_switch = Switch (link_bag.io_hub.contact[12], invert = True)
self.beacon = RoundObstacle (40, 5)
table.obstacles.append (self.beacon)
self.position = Position (link_bag.asserv.position, [ self.beacon ])
output = link_bag.io_hub.output
contact = [ Switch (c) for c in link_bag.io_hub.contact[3:12] ]
self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0],
(PneumaticCylinder (output[self.OUTPUT_LOWER_CLAMP_1_CLOSE],
None, scheduler, 0., 30., 150., 75., 30.),
PneumaticCylinder (output[self.OUTPUT_LOWER_CLAMP_2_CLOSE],
None, scheduler, 0., 30., 150., 75., 30.)),
contact[0:2], contact[8],
PneumaticCylinder (output[self.OUTPUT_UPPER_CLAMP_DOWN],
output[self.OUTPUT_UPPER_CLAMP_UP], scheduler,
0., 1., 1., 1., 1., contact[2], contact[3]),
PneumaticCylinder (output[self.OUTPUT_UPPER_CLAMP_IN],
output[self.OUTPUT_UPPER_CLAMP_OUT], scheduler,
0., 1., 1., 1., 0.),
PneumaticCylinder (None, output[self.OUTPUT_UPPER_CLAMP_OPEN],
scheduler, 0., 30., 150., 75., 30.),
PneumaticCylinder (output[self.OUTPUT_DOOR_CLOSE],
output[self.OUTPUT_DOOR_OPEN], scheduler,
0., 1., 1., 1., 1., contact[5], contact[4])
)
self.distance_sensor = [
DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table,
(150, 0), 0, (self.position, ), 4, factor = 5),
DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table,
(50, 147), 0, (self.position, ), set ([3, 4]), factor = 5),
DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table,
(50, -147), 0, (self.position, ), set ([3, 4]), factor = 5),
DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table,
(-120, 0), pi, (self.position, ), 4, factor = 5),
]
self.path = link_bag.io_hub.path
self.pos_report = link_bag.io_hub.pos_report
self.debug_draw = link_bag.io_hub.debug_draw
class Bag:
def __init__ (self, scheduler, table, link_bag):
self.color_switch = Switch (link_bag.io_hub.contact[0], invert = True)
self.color_switch.state = random.choice ((False, True))
self.color_switch.notify ()
self.jack = Switch (link_bag.io_hub.contact[1], invert = True)
self.strat_switch = Switch (link_bag.io_hub.contact[9], invert = True)
self.contact = [ Switch (contact)
for contact in link_bag.io_hub.contact[2:9] ]
self.beacon = RoundObstacle (40, 5)
table.obstacles.append (self.beacon)
self.position = Position (link_bag.asserv.position, [ self.beacon ])
self.clamping_motor = MotorBasic (link_bag.io_hub.pwm[2], scheduler,
8 * pi, 0, pi)
self.door_motors = [ MotorBasic (link_bag.io_hub.pwm[i], scheduler,
8 * pi, 0, 0.5 * pi) for i in (0, 1, 3, 4) ]
self.clamp = Clamp (table, self.position, link_bag.mimot.aux[0],
link_bag.mimot.aux[1], self.clamping_motor, self.door_motors,
self.contact[0:7], link_bag.io_hub.codebar)
def distance_sensor_exclude (o):
return o is self.beacon
self.distance_sensor = [
DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table,
(20, 20), pi * 10 / 180, (self.position, ), 5,
distance_sensor_exclude, factor = 5),
DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table,
(20, -20), -pi * 10 / 180, (self.position, ), 5,
distance_sensor_exclude, factor = 5),
DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table,
(-20, -20), pi + pi * 10 / 180, (self.position, ), 5,
distance_sensor_exclude, factor = 5),
DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table,
(-20, 20), pi - pi * 10 / 180, (self.position, ), 5,
distance_sensor_exclude, factor = 5),
]
self.path = link_bag.io_hub.path
self.pos_report = link_bag.io_hub.pos_report
def __init__ (self, scheduler, table, link_bag):
self.table = table
self.color_switch = Switch (link_bag.ihm_color, invert = True)
self.color_switch.state = random.choice ((False, True))
self.color_switch.notify ()
self.jack = Switch (link_bag.raw_jack, invert = True)
self.strat_switch = Switch (link_bag.ihm_strat, invert = True)
self.robot_nb_switch = Switch (link_bag.ihm_robot_nb, invert = True)
self.beacon = RoundObstacle (40, 5)
table.obstacles.append (self.beacon)
self.position = Position (link_bag.asserv.position, [ self.beacon ])
usdist_f = 2040. / 3300
self.distance_sensor = [
DistanceSensorSensopart (link_bag.adc_dist[0], scheduler, table,
(102, 84), 0, (self.position, ), 4, factor = usdist_f),
DistanceSensorSensopart (link_bag.adc_dist[1], scheduler, table,
(102, -84), 0, (self.position, ), 4, factor = usdist_f),
DistanceSensorSensopart (link_bag.adc_dist[2], scheduler, table,
(-78, 104), pi, (self.position, ), 4, factor = usdist_f),
DistanceSensorSensopart (link_bag.adc_dist[3], scheduler, table,
(-83, -120), pi, (self.position, ), 4, factor = usdist_f),
]
self.cake_front = DistanceSensorTrig (link_bag.adc_cake_front,
scheduler, table, (80, 136), pi / 2, (self.position, ), 0)
self.cake_back = DistanceSensorTrig (link_bag.adc_cake_back,
scheduler, table, (-66, 139), pi / 2, (self.position, ), 0)
self.cake_arm = CakeArm (table, self.position,
PneumaticCylinder (
link_bag.cake_arm_in,
link_bag.cake_arm_out,
scheduler, 0., 1., 2.5, 2.5, 1.),
PneumaticCylinder (
link_bag.cake_push_far_in,
link_bag.cake_push_far_out,
scheduler, 0., 1., 10., 10., 0.),
PneumaticCylinder (
link_bag.cake_push_near_in,
link_bag.cake_push_near_out,
scheduler, 0., 1., 10., 10., 0.),
link_bag.cake_arm_out_contact, link_bag.cake_arm_in_contact)
self.cannon = Cannon (table, self.position,
PneumaticCylinder (
link_bag.cherry_plate_up,
link_bag.cherry_plate_down,
scheduler, 0., 1., 2.5, 2.5, 1.),
PneumaticCylinder (
link_bag.cherry_plate_clamp_open,
link_bag.cherry_plate_clamp_close,
scheduler, 0., 1., 10., 10., 0.),
(Switch (link_bag.cherry_plate_left_contact),
Switch (link_bag.cherry_plate_right_contact)),
link_bag.io_hub.potentiometer)
self.gifts_arm = GiftsArm (table, self.position,
PneumaticCylinder (
link_bag.gift_in,
link_bag.gift_out,
scheduler, 0., 1., 10., 10., 0.))
self.ballon = PneumaticCylinder (None, link_bag.ballon_funny_action,
scheduler, 0., 1., .1, .1, 0.)
self.path = link_bag.io_hub.path
self.pos_report = link_bag.io_hub.pos_report
self.debug_draw = link_bag.io_hub.debug_draw