def __init__ (self, robot_class, *args): TestSimu.__init__ (self, robot_class, *args, color_switch_set_pos = True) self.io = self.robots[0].io self.asserv = self.robots[0].asserv self.mimot = self.robots[0].mimot self.robot_model = self.robots[0].model
def create_widgets (self): TestSimu.create_widgets (self) self.control_frame = Frame (self) self.control_frame.pack (side = 'left', before = self.table_view, fill = 'y') self.clamp_var = IntVar () self.clamp_button = Checkbutton (self.control_frame, text = 'Clamp', indicatoron = False, variable = self.clamp_var, command = self.clamp_command) self.clamp_button.pack () self.elevator_var = IntVar () self.elevator_button = Checkbutton (self.control_frame, text = 'Elevator', indicatoron = False, variable = self.elevator_var, command = self.elevator_command) self.elevator_button.pack () self.gate_var = IntVar () self.gate_button = Checkbutton (self.control_frame, text = 'Gate', indicatoron = False, variable = self.gate_var, command = self.gate_command) self.gate_button.pack () self.loader_up_button = Button (self.control_frame, text = 'Loader up', padx = 0, pady = 0, command = self.loader_up_command) self.loader_up_button.pack () self.loader_down_button = Button (self.control_frame, text = 'Loader down', padx = 0, pady = 0, command = self.loader_down_command) self.loader_down_button.pack () self.table_view.bind ('<1>', self.move) self.table_view.bind ('<3>', self.orient)
def __init__ (self, robot_class, *args): TestSimu.__init__ (self, robot_class, *args, color_switch_set_pos = True) self.io = self.robots[0].io self.asserv = self.robots[0].asserv self.robot_model = self.robots[0].model self.io.output (io_hub.apbirthday.output_mask ( 'cake_arm_in', 'cake_push_far_in', 'cake_push_near_in', 'cherry_plate_down'), 'toggle')
def __init__ (self, robot_class, *args): TestSimu.__init__ (self, robot_class, *args, color_switch_set_pos = True) self.io = self.robots[0].io self.asserv = self.robots[0].asserv self.mimot = self.robots[0].mimot self.robot_model = self.robots[0].model self.io.output (1 << defs.OUTPUT_UPPER_CLAMP_UP, 'toggle') self.io.output (1 << defs.OUTPUT_UPPER_CLAMP_IN, 'toggle') self.io.output (1 << defs.OUTPUT_DOOR_CLOSE, 'toggle')
def create_widgets (self): TestSimu.create_widgets (self) self.control_frame = Frame (self) self.control_frame.pack (side = 'left', before = self.table_view, fill = 'y') Button (self.control_frame, text = 'FSM step', padx = 0, pady = 0, command = self.fsm_debug).pack () Button (self.control_frame, text = 'Asserv block', padx = 0, pady = 0, command = self.asserv_block).pack () def out_button (name, *toggle): def command (): self.io.output (io_hub.apbirthday.output_mask (*toggle), 'toggle') button = Button (self.control_frame, text = name, padx = 0, pady = 0, command = command) button.pack () out_button ('Arm in/out', 'cake_arm_in', 'cake_arm_out') out_button ('Push far in/out', 'cake_push_far_in', 'cake_push_far_out') out_button ('Push near in/out', 'cake_push_near_in', 'cake_push_near_out') out_button ('Plate arm up/down', 'cherry_plate_up', 'cherry_plate_down') out_button ('Plate clamp', 'cherry_plate_clamp') cannon_var = IntVar () def cannon_cmd (): self.io.potentiometer (0, 256 if cannon_var.get () else 0) Checkbutton (self.control_frame, text = 'Fire!', indicatoron = 0, variable = cannon_var, command = cannon_cmd).pack () self.backward_var = IntVar () self.backward_button = Checkbutton (self.control_frame, text = 'Backward', variable = self.backward_var) 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 create_widgets (self): TestSimu.create_widgets (self) self.control_frame = Frame (self) self.control_frame.pack (side = 'left', before = self.table_view, fill = 'y') self.clamp_var = IntVar () self.clamp_var.set (1) self.clamp_button = Checkbutton (self.control_frame, text = 'Clamp', indicatoron = False, variable = self.clamp_var, command = self.clamp_command) self.clamp_button.pack () self.doors_var = IntVar () self.doors_var.set (1) self.doors_button = Checkbutton (self.control_frame, text = 'Doors', indicatoron = False, variable = self.doors_var, command = self.doors_command) self.doors_button.pack () self.elevation_up_button = Button (self.control_frame, text = 'Elevation up', padx = 0, pady = 0, command = self.elevation_up_command) self.elevation_up_button.pack () self.elevation_down_button = Button (self.control_frame, text = 'Elevation down', padx = 0, pady = 0, command = self.elevation_down_command) self.elevation_down_button.pack () self.rotation_cw_button = Button (self.control_frame, text = 'Rotation cw', padx = 0, pady = 0, command = self.rotation_cw_command) self.rotation_cw_button.pack () self.rotation_ccw_button = Button (self.control_frame, text = 'Rotation ccw', padx = 0, pady = 0, command = self.rotation_ccw_command) self.rotation_ccw_button.pack () self.clamp_pos_scale = Scale (self.control_frame, orient = HORIZONTAL, from_ = 0, to = 6) self.clamp_pos_scale.pack () self.clamp_move_button = Button (self.control_frame, text = 'Move clamp', padx = 0, pady = 0, command = self.clamp_move_command) self.clamp_move_button.pack () self.clamp_to_scale = Scale (self.control_frame, orient = HORIZONTAL, from_ = 0, to = 6) self.clamp_to_scale.pack () self.clamp_element_move_button = Button (self.control_frame, text = 'Move element', padx = 0, pady = 0, command = self.clamp_move_element_command) self.clamp_element_move_button.pack () self.drop_var = IntVar () self.drop_button = Checkbutton (self.control_frame, text = 'Drop', indicatoron = False, variable = self.drop_var, command = self.drop_command) self.drop_button.pack () self.backward_var = IntVar () self.backward_button = Checkbutton (self.control_frame, text = 'Backward', variable = self.backward_var) 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 create_widgets (self): TestSimu.create_widgets (self) self.control_frame = Frame (self) self.control_frame.pack (side = 'left', before = self.table_view, fill = 'y') Button (self.control_frame, text = 'FSM step', padx = 0, pady = 0, command = self.fsm_debug).pack () Button (self.control_frame, text = 'Asserv block', padx = 0, pady = 0, command = self.asserv_block).pack () Button (self.control_frame, text = 'Clamp block', padx = 0, pady = 0, command = self.clamp_block).pack () def out_button (name, toggle): def command (): self.io.output (toggle, 'toggle') button = Button (self.control_frame, text = name, padx = 0, pady = 0, command = command) button.pack () out_button ('LClamp 1 open', 1 << defs.OUTPUT_LOWER_CLAMP_1_CLOSE) out_button ('LClamp 2 open', 1 << defs.OUTPUT_LOWER_CLAMP_2_CLOSE) self.lower_clamp_rotate_button = Button (self.control_frame, text = 'LClamp rotate', padx = 0, pady = 0, command = self.lower_clamp_rotate_command) self.lower_clamp_rotate_button.pack () out_button ('UClamp up/down', 1 << defs.OUTPUT_UPPER_CLAMP_UP | 1 << defs.OUTPUT_UPPER_CLAMP_DOWN) out_button ('UClamp in/out', 1 << defs.OUTPUT_UPPER_CLAMP_IN | 1 << defs.OUTPUT_UPPER_CLAMP_OUT) out_button ('UClamp open', 1 << defs.OUTPUT_UPPER_CLAMP_OPEN) out_button ('Door open', 1 << defs.OUTPUT_DOOR_OPEN | 1 << defs.OUTPUT_DOOR_CLOSE) self.tree_detected_button = Button (self.control_frame, text = 'Tree Detected', padx = 0, pady = 0, command = self.tree_detected) self.tree_detected_button.pack() self.stop_tree_approach_button = Button (self.control_frame, text = 'Stop tree approach', padx = 0, pady = 0, command = self.stop_tree_approach) self.stop_tree_approach_button.pack() self.empty_tree_button = Button (self.control_frame, text = 'Empty Tree', padx = 0, pady = 0, command = self.empty_tree) self.empty_tree_button.pack() self.robot_is_back_button = Button (self.control_frame, text = 'Robot is back', padx = 0, pady = 0, command = self.robot_is_back) self.robot_is_back_button.pack() self.unblock_button = Button (self.control_frame, text = 'unblock bottom clamp', padx = 0, pady = 0, command = self.unblock_bottom_clamp) self.unblock_button.pack() self.backward_var = IntVar () self.backward_button = Checkbutton (self.control_frame, text = 'Backward', variable = self.backward_var) 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)