def __init__(self, master):
self.pendulo = Pendulum()
self.pendulo.Phi = math.radians(45)
self.controlador = ControladorPendulo()
w = Canvas(master, width=800, height=400)
self.w = w
w.pack()
#creamos el piso
w.create_polygon(0, 270, 800, 270, 800, 300, 0, 300, fill='black')
self.carga = w.create_oval(0, 0, 10, 10, fill='red')
self.pivote = w.create_line(0, 0, 400, 300) # x0, y0, x1, y1
self.carro = w.create_polygon(0, 0, 70, 0, 70, 30, 0, 30, fill='blue')
self.actualizar_puntos()
self.posicionar_objetos()
frame = Frame(master)
frame.pack()
self.iniciar = Button(frame, text="Iniciar", command=self.iniciar)
self.iniciar.pack(side=LEFT)
self.detener = Button(frame, text="Detener", command=self.detener)
self.detener.pack(side=LEFT)
self.paso = Button(frame, text="Paso", command=self.hacer_paso)
self.paso.pack(side=LEFT)
self.lx = StringVar()
Label(frame, text="X: ").pack(side=LEFT)
Label(frame, textvariable=self.lx).pack(side=LEFT)
self.ldx = StringVar()
Label(frame, text="dX: ").pack(side=LEFT)
Label(frame, textvariable=self.ldx).pack(side=LEFT)
self.lphi = StringVar()
Label(frame, text="Phi: ").pack(side=LEFT)
Label(frame, textvariable=self.lphi).pack(side=LEFT)
self.ldphi = StringVar()
Label(frame, text="dPhi: ").pack(side=LEFT)
Label(frame, textvariable=self.ldphi).pack(side=LEFT)
self.la = StringVar()
Label(frame, text="Aceleracion: ").pack(side=LEFT)
Label(frame, textvariable=self.la).pack(side=LEFT)
class MuestraPendulo:
def __init__(self, master):
self.pendulo = Pendulum()
self.pendulo.Phi = math.radians(45)
self.controlador = ControladorPendulo()
w = Canvas(master, width=800, height=400)
self.w = w
w.pack()
#creamos el piso
w.create_polygon(0, 270, 800, 270, 800, 300, 0, 300, fill='black')
self.carga = w.create_oval(0, 0, 10, 10, fill='red')
self.pivote = w.create_line(0, 0, 400, 300) # x0, y0, x1, y1
self.carro = w.create_polygon(0, 0, 70, 0, 70, 30, 0, 30, fill='blue')
self.actualizar_puntos()
self.posicionar_objetos()
frame = Frame(master)
frame.pack()
self.iniciar = Button(frame, text="Iniciar", command=self.iniciar)
self.iniciar.pack(side=LEFT)
self.detener = Button(frame, text="Detener", command=self.detener)
self.detener.pack(side=LEFT)
self.paso = Button(frame, text="Paso", command=self.hacer_paso)
self.paso.pack(side=LEFT)
self.lx = StringVar()
Label(frame, text="X: ").pack(side=LEFT)
Label(frame, textvariable=self.lx).pack(side=LEFT)
self.ldx = StringVar()
Label(frame, text="dX: ").pack(side=LEFT)
Label(frame, textvariable=self.ldx).pack(side=LEFT)
self.lphi = StringVar()
Label(frame, text="Phi: ").pack(side=LEFT)
Label(frame, textvariable=self.lphi).pack(side=LEFT)
self.ldphi = StringVar()
Label(frame, text="dPhi: ").pack(side=LEFT)
Label(frame, textvariable=self.ldphi).pack(side=LEFT)
self.la = StringVar()
Label(frame, text="Aceleracion: ").pack(side=LEFT)
Label(frame, textvariable=self.la).pack(side=LEFT)
def posicionar_objetos(self):
cax, cay = self.pto_carga
cox, coy = self.pto_carro
self.w.coords(self.pivote, cax, cay, cox, coy - 15)
self.w.coords(self.carga, cax - 15, cay - 15, cax + 15, cay + 15)
self.w.coords(self.carro, cox - 35, coy, cox + 35, coy,
cox + 35, coy - 30, cox - 35, coy - 30)
def _coord(self, x, y):
return (x + 400, 270 - y)
def actualizar_puntos(self):
escala = 100
cox = self.pendulo.X * escala
coy = 0
phi = self.pendulo.Phi
l = self.pendulo.l * escala
cax = cox + l * math.cos(phi)
cay = l * math.sin(phi)
self.pto_carro = self._coord(cox, coy)
self.pto_carga = self._coord(cax, cay)
def hacer_paso(self):
aceleracion = self.controlador.compute(
phi=int(math.degrees(self.pendulo.Phi)),
dphi_dt=int(math.degrees(self.pendulo.dPhi_dT)),
dx_dt=int(self.pendulo.dX_dT),
x=int(self.pendulo.X),
a=int(self.pendulo.a))
self.lx.set("%6.2f" % self.pendulo.X)
self.ldx.set("%6.2f" % self.pendulo.dX_dT)
self.lphi.set("%6.2f" % math.degrees(self.pendulo.Phi))
self.ldphi.set("%6.2f" % math.degrees(self.pendulo.dPhi_dT))
self.la.set("%6.2f" % aceleracion)
self.pendulo.a = aceleracion
self.pendulo.doStep(0.01)
self.actualizar_puntos()
self.posicionar_objetos()
def iniciar(self):
print 'inicia'
self.timer = PerpetualTimer(0.01, self.hacer_paso)
self.timer.start()
def detener(self):
print 'detiene'
self.timer.cancel()
