Ajout des modes d'activation des entrées et des sorties pour le monte-charge et le volet
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@ -19,12 +19,13 @@ scene = bge.logic.getCurrentScene()
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# Configuration des variables publiques
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# 'nom_variable' :
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# - Objet 3D : [nom de l'objet 3D, propriété associée à la valeur (activate ou activated_real), type de la valeur ('d' (digital, binary), 'a', (analog) ou 'n' (numeric)), échelle (1 si ommis)]
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# - Configuration de la broche : [nom de la propriété stockant l'object broche (pyfirmata), type de broche par défaut('d','a' ou 'p'), 'mode de la broche par défaut ('i' ou 'o')]
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# - Configuration du graphique : ['marque', 'type de ligne', 'couleur', linewidth]] (matplotlib)
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# - Configuration de la broche : [nom de la propriété stockant l'object broche (pyfirmata),
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# type de broche par défaut : 'd' (digital), 'a' (analog) ou 'p' (pwm)), mode de la broche par défaut : 'i' (input) ou 'o' (output)]
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# - Configuration du graphique : ['marque', 'type de ligne', 'couleur', linewidth]] (Codification de Matplotlib)
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#
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# 'nom_variable_r' est la valeur réelle de la variable (valeur numérique) 'nom_variable' issue du jumelage numérique.
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# Dans ce cas, il n'y a pas configuration de broche car elle est présente sur la variable 'nom_variable'.
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# Ce distinguo ne concerne que les entrées, car il n'y pas de lecture des "sorties réelles".
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# Ce distinguo ne concerne que les entrées, car les sorties sont pilotées par le numérique.
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public_vars = {
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't' : [['System','time','a'], [], []],
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@ -145,21 +146,22 @@ def mot (cont):
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# Monter
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if obj['up']:
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# Physique
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obj_vissansfin.applyRotation((0, 0, obj['step']), True)
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obj['alpha']= obj['alpha']+obj['step']
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if scene.objects['System']['time'] != obj['last_time']:
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obj['speed']= (obj['step'])/(scene.objects['System']['time']-obj['last_time'])
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obj_pignon.applyRotation((obj_pignon['step'], 0, 0), True)
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obj_cabine.applyMovement((0, 0, obj_cabine['step']), True)
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obj_cabine['z']= obj_cabine['z']+obj_cabine['step'] # Echelle pas pris en compte
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if scene.objects['System']['time'] != obj['last_time']:
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obj_cabine['speed']= obj_cabine['step']/(scene.objects['System']['time']-obj['last_time'])
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obj_contrepoids.applyMovement((0, 0, -obj_cabine['step']), True)
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obj['last_time'] = scene.objects['System']['time']
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# Physique du modèle 3D
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if obj['prior']:
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obj_vissansfin.applyRotation((0, 0, obj['step']), True)
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obj['alpha']= obj['alpha']+obj['step']
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if scene.objects['System']['time'] != obj['last_time']:
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obj['speed']= (obj['step'])/(scene.objects['System']['time']-obj['last_time'])
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obj_pignon.applyRotation((obj_pignon['step'], 0, 0), True)
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obj_cabine.applyMovement((0, 0, obj_cabine['step']), True)
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obj_cabine['z']= obj_cabine['z']+obj_cabine['step'] # Echelle pas pris en compte
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if scene.objects['System']['time'] != obj['last_time']:
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obj_cabine['speed']= obj_cabine['step']/(scene.objects['System']['time']-obj['last_time'])
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obj_contrepoids.applyMovement((0, 0, -obj_cabine['step']), True)
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obj['last_time'] = scene.objects['System']['time']
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# Modele 3D -> Arduino
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if scene.objects['System']['twins']:
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if scene.objects['System']['twins'] and obj['prior_real']:
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if scene.objects['Moteur']['pin_m'] is not None:
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if scene.objects['Moteur']['pin_d'] is not None:
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scene.objects['Moteur']['pin_d'].write(0)
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@ -169,21 +171,22 @@ def mot (cont):
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# else: # Pas de priorité
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if obj['down']:
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# Physique
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obj_vissansfin.applyRotation((0, 0, -obj['step']), True)
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obj['alpha']= obj['alpha']-obj['step']
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if scene.objects['System']['time'] != obj['last_time']:
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obj['speed']= (-obj['step'])/(scene.objects['System']['time']-obj['last_time'])
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obj_pignon.applyRotation((-obj_pignon['step'], 0, 0), True)
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obj_cabine.applyMovement((0, 0, -obj_cabine['step']), True)
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obj_cabine['z']= obj_cabine['z']-obj_cabine['step'] # Echelle pas pris en compte
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if scene.objects['System']['time'] != obj['last_time']:
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obj_cabine['speed']= -obj_cabine['step']/(scene.objects['System']['time']-obj['last_time'])
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obj_contrepoids.applyMovement((0, 0, obj_cabine['step']), True)
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obj['last_time'] = scene.objects['System']['time']
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# Physique du modèle 3D
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if obj['prior']:
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obj_vissansfin.applyRotation((0, 0, -obj['step']), True)
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obj['alpha']= obj['alpha']-obj['step']
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if scene.objects['System']['time'] != obj['last_time']:
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obj['speed']= (-obj['step'])/(scene.objects['System']['time']-obj['last_time'])
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obj_pignon.applyRotation((-obj_pignon['step'], 0, 0), True)
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obj_cabine.applyMovement((0, 0, -obj_cabine['step']), True)
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obj_cabine['z']= obj_cabine['z']-obj_cabine['step'] # Echelle pas pris en compte
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if scene.objects['System']['time'] != obj['last_time']:
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obj_cabine['speed']= -obj_cabine['step']/(scene.objects['System']['time']-obj['last_time'])
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obj_contrepoids.applyMovement((0, 0, obj_cabine['step']), True)
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obj['last_time'] = scene.objects['System']['time']
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# Modele 3D -> Arduino
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if scene.objects['System']['twins']:
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if scene.objects['System']['twins'] and obj['prior_real']:
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if scene.objects['Moteur']['pin_d'] is not None:
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if scene.objects['Moteur']['pin_m'] is not None:
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scene.objects['Moteur']['pin_m'].write(0)
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@ -192,13 +195,14 @@ def mot (cont):
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# Arrêter
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if obj['up']== False and obj['down'] == False :
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# Physique
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obj['speed']= 0
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obj_cabine['speed']= 0
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obj['last_time'] = scene.objects['System']['time']
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# Physique du modèle 3D
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if obj['prior']:
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obj['speed']= 0
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obj_cabine['speed']= 0
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obj['last_time'] = scene.objects['System']['time']
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# Modele 3D -> Arduino
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if scene.objects['System']['twins']:
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if scene.objects['System']['twins'] and obj['prior_real']:
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if scene.objects['Moteur']['pin_d'] is not None:
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if scene.objects['Moteur']['pin_m'] is not None:
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scene.objects['Moteur']['pin_m'].write(0)
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@ -218,7 +222,7 @@ def pc_0 (cont):
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obj = cont.owner
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# Arduino -> Modele 3D
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if scene.objects['System']['twins']:
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if scene.objects['System']['twins'] and obj['prior_real']:
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if obj['pin'] is not None:
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if obj['pin'].read()==True and obj['activated_real'] == False :
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obj['activated_real'] = True
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@ -226,13 +230,13 @@ def pc_0 (cont):
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obj['activated_real'] = False
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# Etat capteur en fonction de la position de la cabine : localPosition.z entre -40 et -42
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if scene.objects['Cabine'].localPosition.z <-40 and scene.objects['Cabine'].localPosition.z >-42 and obj['activated'] == False :
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if scene.objects['Cabine'].localPosition.z <-40 and scene.objects['Cabine'].localPosition.z >-42 and obj['activated'] == False and obj['prior']:
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obj['activated'] = True
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if (scene.objects['Cabine'].localPosition.z > -40 or scene.objects['Cabine'].localPosition.z <-42) and obj['activated'] == True :
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if (scene.objects['Cabine'].localPosition.z > -40 or scene.objects['Cabine'].localPosition.z <-42) and obj['activated'] == True and obj['prior']:
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obj['activated'] = False
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# Forçage par clic
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if obj['click'] == True:
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if obj['click'] == True and obj['prior']:
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obj['activated'] = True
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# Couleurs
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@ -247,7 +251,7 @@ def pc_1 (cont):
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obj = cont.owner
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# Arduino -> Modele 3D
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if scene.objects['System']['twins']:
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if scene.objects['System']['twins'] and obj['prior_real']:
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if obj['pin'] is not None:
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if obj['pin'].read()==True and obj['activated_real'] == False :
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obj['activated_real'] = True
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@ -255,13 +259,13 @@ def pc_1 (cont):
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obj['activated_real'] = False
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# Etat capteur en fonction de la position de la cabine : localPosition.z entre 0 et -2
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if scene.objects['Cabine'].localPosition.z <0 and scene.objects['Cabine'].localPosition.z >-2 and obj['activated'] == False :
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if scene.objects['Cabine'].localPosition.z <0 and scene.objects['Cabine'].localPosition.z >-2 and obj['activated'] == False and obj['prior']:
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obj['activated'] = True
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if (scene.objects['Cabine'].localPosition.z > 0 or scene.objects['Cabine'].localPosition.z <-2) and obj['activated'] == True :
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if (scene.objects['Cabine'].localPosition.z > 0 or scene.objects['Cabine'].localPosition.z <-2) and obj['activated'] == True and obj['prior']:
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obj['activated'] = False
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# Forçage par clic
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if obj['click'] == True:
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if obj['click'] == True and obj['prior']:
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obj['activated'] = True
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# Couleurs
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@ -285,13 +289,24 @@ def system_init ():
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def system_reset ():
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# Entrées à l'état initial
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objs= ['Bp niveau 0', 'Bp niveau 1', 'Microrupteur niveau 0','Microrupteur niveau 1']
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for obj in objs:
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scene.objects[obj]['activated']=False
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scene.objects[obj]['activated_real']=False
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# Voyants aux états initiaux
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scene.objects['Led niveau 0']['activated']=False
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scene.objects['Led niveau 1']['activated']=False
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scene.objects['Led niveau 0'].setVisible(True,False)
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scene.objects['Led niveau 0-on'].setVisible(False,False)
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scene.objects['Led niveau 1'].setVisible(True,False)
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scene.objects['Led niveau 1-on'].setVisible(False,False)
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# Cabine
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scene.objects['Cabine']['z']=0
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scene.objects['Cabine']['speed']=0
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scene.objects['Cabine']['step']=0
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scene.objects['Cabine'].worldPosition.x = scene.objects['Cabine']['init_lx']-scene.objects['System']['init_lx']+scene.objects['System'].worldPosition.x
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scene.objects['Cabine'].worldPosition.y = scene.objects['Cabine']['init_ly']-scene.objects['System']['init_ly']+scene.objects['System'].worldPosition.y
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scene.objects['Cabine'].worldPosition.z = scene.objects['Cabine']['init_lz']-scene.objects['System']['init_lz']+scene.objects['System'].worldPosition.z
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@ -299,25 +314,17 @@ def system_reset ():
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scene.objects['Contrepoids'].worldPosition.y = scene.objects['Contrepoids']['init_ly']-scene.objects['System']['init_ly']+scene.objects['System'].worldPosition.y
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scene.objects['Contrepoids'].worldPosition.z = scene.objects['Contrepoids']['init_lz']-scene.objects['System']['init_lz']+scene.objects['System'].worldPosition.z
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# Moteur à l'état initial : pas utile
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# I/O à l'état initial
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scene.objects['Led niveau 0']['activated']=False
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scene.objects['Led niveau 1']['activated']=False
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scene.objects['Bp niveau 0']['activated']=False
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scene.objects['Bp niveau 0']['activated_real']=False
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scene.objects['Bp niveau 1']['activated']=False
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scene.objects['Bp niveau 1']['activated_real']=False
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scene.objects['Microrupteur niveau 0']['activated']=False
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scene.objects['Microrupteur niveau 0']['activated_real']=False
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scene.objects['Microrupteur niveau 1']['activated']=False
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scene.objects['Microrupteur niveau 1']['activated_real']=False
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# Moteur
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scene.objects['Moteur']['up']=False
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scene.objects['Moteur']['down']=False
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scene.objects['Moteur']['alpha']=0
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scene.objects['Moteur']['speed']=0
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scene.objects['Moteur']['speed_setting']=31.4 # Vitesse du moteur numérique : 31,4 rad /s ( 5 tr / s )
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scene.objects['Moteur']['step']=0
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scene.objects['Cabine']['z']=0
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scene.objects['Cabine']['speed']=0
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scene.objects['Cabine']['step']=0
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# Priorités activées
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objs= ['Bp niveau 0', 'Bp niveau 1', 'Microrupteur niveau 0','Microrupteur niveau 1', 'Led niveau 0', 'Led niveau 1', 'Moteur']
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for obj in objs:
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scene.objects[obj]['prior']=True
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scene.objects[obj]['prior_real']=True
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@ -40,7 +40,9 @@ from montchg_lib import * # Bibliothèque utilisateur du monte-charge
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def commandes():
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daq(['mot_angle', 'mot_vitesse', 'cabine_z', 'cabine_vitesse'])
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jumeau_mode(True, True, True, True)
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mot_vitesse (500)
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# Init -> Descendre
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while pc_0() ==False :
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voy_0(True)
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@ -17,10 +17,12 @@ system_card_description ={}
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# Jumeau numérique
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card_twins_title="Jumeau numérique"
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card_twins_text=""" jumeau(brochage) \n -> Active le jumeau réel.\n
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'brochage' permet de faire le lien entre les \n deux jumeaux (plus de précision sur la \n page "Brochage").\n
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jumeau_stop() \n -> Désactive le jumeau réel.\n
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Avec "carte=jumeau(brochage)", on peut \n utiliser l'objet 'carte' pour communiquer \n directement avec le protocole Firmata."""
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card_twins_text=""" jumeau(brochage) -> Démarrer le jumelage.\n
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"brochage" permet de faire le lien entre les \n deux jumeaux (voir la page "Brochage").\n
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jumeau_stop() -> Arrêter le jumelage.\n
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jumeau_mode(entrées réelles, entrées \n numériques, sorties réelles, sorties \n numériques) -> Définit les modes
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d'activation des entrées/sorties : \n - True pour activer (par défaut), \n - False pour désactiver."""
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# Avec "carte=jumeau(brochage)", on peut \n utiliser l'objet 'carte' pour communiquer \n directement avec le protocole Firmata.
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# jumeau_config(port, vitesse) \n -> Définit la configuration de la liaison \n série.\n
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# Si le port n'est pas spécifié, il sera \n recherché automatiquement (carte \n Arduino Uno ou Mega). \n
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# La vitesse par défaut est 115200 baud."""
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@ -35,8 +37,8 @@ card_pin_text=""" Le brochage est un dictionnaire qui permet \n d'associer les o
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- type : a (analogique) ou d (numérique),
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- broche : numéro de la broche de carte,
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- mode : i (entrée), o (sortie) ou p (pwm).
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Par exemple : brochage = { 'voy_0':['d', 3, 'o'] }.\n
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Les objets numériques du jumeau sont : \n 'ba_0', 'ba_1', 'pc_0', 'pc_1', 'mot_m', 'mot_d', \n 'voy_0' et 'voy_1'."""
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Par exemple : brochage = { 'ba_0':['d',2,'i'] }.\n
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Les objets numériques du jumeau sont : \n 'ba_0', 'ba_1', 'pc_0', 'pc_1', 'mot_m', \n 'mot_d', 'voy_0' et 'voy_1'."""
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card_pin_url=[]
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system_card_description.update({"pin-card" : [card_pin_title, card_pin_text, card_pin_url]})
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@ -64,10 +66,11 @@ system_card_description.update({"daq-card" : [card_daq_title, card_daq_text, car
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# Ouvrir et fermer
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card_movement_title="Monter et descendre"
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card_movement_text=""" mot_m(True | False) \n -> Monter la cabine (moteur sens trigo). \n
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mot_d(True | False) \n -> Descendre la cabine (mot. sens horaire). \n
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pc_0() \n -> Capteur présence cabine niveau 0.\n Retourne True si la cabine est au niveau 0. \n
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pc_1() \n -> Capteur présence cabine niveau 1.\n Retourne True si la cabine est au niveau 1."""
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card_movement_text=""" mot_m(True | False) -> Monter la cabine. \n
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mot_d(True | False) -> Descendre la cabine. \n
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mot_vitesse(vitesse) -> Change la vitesse \n du moteur numérique en rad/s. Si 'vitesse' \n est ommis, elle sera réinitialisée. \n
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pc_0() -> Capteur présence cabine niveau 0.\n Retourne True si la cabine est au niveau 0. \n
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pc_1() -> Capteur présence cabine niveau 1.\n Retourne True si la cabine est au niveau 1."""
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card_movement_url=[]
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system_card_description.update({"movement-card" : [card_movement_title, card_movement_text, card_movement_url]})
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@ -91,10 +94,11 @@ system_card_description.update({"model-card" : [card_model_title, card_model_tex
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# Firmata
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card_firmata_title="Protocole Firmata"
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card_firmata_text=""" Firmata est le protocole de \n communication entre les deux jumeaux.\n
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broche = carte.get_pin('type:numéro:mode') \n -> Créer une entrée/sortie (broche) \n - type : a (analogique) ou d (numérique) \n - mode : i (entrée) , o (sortie) ou p (pwm). \n
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broche.read() \n -> Retourne la valeur de la broche.\n
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broche.write(valeur) \n -> Écrire la valeur sur la broche."""
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card_firmata_text=""" Firmata est le protocole de communication \n entre les deux jumeaux via la liaison série.
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Lors du jumelage, il faut récupérer l'objet \n "carte" avec carte = jumeau(brochage). \n
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broche = carte.get_pin('type:numéro:mode') \n -> Créer une entrée/sortie (broche) : \n - type : a (analogique) ou d (numérique), \n - mode : i (entrée) , o (sortie) ou p (pwm). \n
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valeur = broche.read() -> Lit la broche.\n
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broche.write(valeur) -> Écrire sur la broche."""
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card_firmata_url=[["Protocole Firmata : pyFirmata","https://github.com/tino/pyFirmata"]]
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system_card_description.update({"firmata-card" : [card_firmata_title, card_firmata_text, card_firmata_url]})
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@ -1,6 +1,6 @@
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import bge # Bibliothèque Blender Game Engine (UPBGE)
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import twin_threading # Multithreading (multitâches)
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from twin_serial import jumeau, jumeau_stop, serial_close # Liaison série
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from twin_serial import jumeau, jumeau_stop, serial_close, jumeau_mode_system, jumeau_mode_object # Liaison série
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from twin_daq import get, daq, csv_generate, plot, plot_generate # Acquisition des données
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import time
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@ -54,11 +54,8 @@ def mot_d (order):
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scene.objects['Moteur']['down']=order
|
||||
|
||||
# Réglage de la vitesse du moteur numérique
|
||||
def mot_digitset (speed=None):
|
||||
if speed==None:
|
||||
scene.objects['Moteur']['speed_setting']=31.4 # Vitesse du moteur numérique : 31,4 rad /s ( 5 tr / s )
|
||||
else:
|
||||
scene.objects['Moteur']['speed_setting']=speed
|
||||
def mot_vitesse (speed=31.4):
|
||||
scene.objects['Moteur']['speed_setting']=speed # Vitesse du moteur numérique : 31,4 rad /s ( 5 tr / s )
|
||||
|
||||
###############################################################################
|
||||
# Capteurs
|
||||
|
|
@ -68,15 +65,13 @@ def mot_digitset (speed=None):
|
|||
def pc_0 ():
|
||||
if scene.objects['Microrupteur niveau 0']['activated'] or scene.objects['Microrupteur niveau 0']['activated_real']:
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
return False
|
||||
|
||||
# Compte-rendu du capteur de présence cabine niveau 0
|
||||
def pc_1 ():
|
||||
if scene.objects['Microrupteur niveau 1']['activated'] or scene.objects['Microrupteur niveau 1']['activated_real']:
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
return False
|
||||
|
||||
###############################################################################
|
||||
# Boutons poussoirs
|
||||
|
|
@ -86,15 +81,23 @@ def pc_1 ():
|
|||
def ba_0 ():
|
||||
if scene.objects['Bp niveau 0']['activated'] or scene.objects['Bp niveau 0']['activated_real']:
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
return False
|
||||
|
||||
# Compte-rendu du bouton pousssoir appel niveau 1
|
||||
def ba_1 ():
|
||||
if scene.objects['Bp niveau 1']['activated'] or scene.objects['Bp niveau 1']['activated_real']:
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
return False
|
||||
|
||||
###############################################################################
|
||||
# Jumelage
|
||||
###############################################################################
|
||||
|
||||
# Mode de jumelage (règles d'activation)
|
||||
def jumeau_mode (input_real=True, input_digital=True, output_real=True, output_digital=True):
|
||||
input_objs = ['Bp niveau 0', 'Bp niveau 1', 'Microrupteur niveau 0', 'Microrupteur niveau 1']
|
||||
output_objs = ['Led niveau 0', 'Led niveau 1', 'Moteur']
|
||||
jumeau_mode_system (input_objs, output_objs, input_real, input_digital, output_real, output_digital)
|
||||
|
||||
###############################################################################
|
||||
# Cycle
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -140,16 +140,17 @@ def mot (cont):
|
|||
# Ouvrir
|
||||
if obj['open']:
|
||||
|
||||
# Physique
|
||||
obj_engrenage.applyRotation((0, 0, -obj_engrenage['step']), True)
|
||||
obj['alpha']= obj['alpha']-obj['step']
|
||||
if scene.objects['System']['time'] != obj['last_time']:
|
||||
obj['speed']= (-obj['step'])/(scene.objects['System']['time']-obj['last_time'])
|
||||
obj_portail.applyMovement((-obj_portail['step'], 0, 0), True)
|
||||
obj_portail['x']= obj_portail['x']-obj_portail['step'] # Echelle pris en compte par le scale de 'System' : 0,3)
|
||||
if scene.objects['System']['time'] != obj['last_time']:
|
||||
obj_portail['speed']= -obj_portail['step']/(scene.objects['System']['time']-obj['last_time'])
|
||||
obj['last_time'] = scene.objects['System']['time']
|
||||
# Physique du modèle 3D
|
||||
if obj['prior']:
|
||||
obj_engrenage.applyRotation((0, 0, -obj_engrenage['step']), True)
|
||||
obj['alpha']= obj['alpha']-obj['step']
|
||||
if scene.objects['System']['time'] != obj['last_time']:
|
||||
obj['speed']= (-obj['step'])/(scene.objects['System']['time']-obj['last_time'])
|
||||
obj_portail.applyMovement((-obj_portail['step'], 0, 0), True)
|
||||
obj_portail['x']= obj_portail['x']-obj_portail['step'] # Echelle pris en compte par le scale de 'System' : 0,3)
|
||||
if scene.objects['System']['time'] != obj['last_time']:
|
||||
obj_portail['speed']= -obj_portail['step']/(scene.objects['System']['time']-obj['last_time'])
|
||||
obj['last_time'] = scene.objects['System']['time']
|
||||
|
||||
# Modele 3D -> Arduino
|
||||
if scene.objects['System']['twins'] and obj['prior_real']:
|
||||
|
|
@ -162,16 +163,17 @@ def mot (cont):
|
|||
# else: # Pas de priorité
|
||||
if obj['close']:
|
||||
|
||||
# Physique
|
||||
obj_engrenage.applyRotation((0, 0, obj_engrenage['step']), True)
|
||||
obj['alpha']= obj['alpha']+obj['step']
|
||||
if scene.objects['System']['time'] != obj['last_time']:
|
||||
obj['speed']= (obj['step'])/(scene.objects['System']['time']-obj['last_time'])
|
||||
obj_portail.applyMovement((obj_portail['step'], 0, 0), True)
|
||||
obj_portail['x']= obj_portail['x']+obj_portail['step'] # Echelle pris en compte par le scale de 'System' : 0,3)
|
||||
if scene.objects['System']['time'] != obj['last_time']:
|
||||
obj_portail['speed']= obj_portail['step']/(scene.objects['System']['time']-obj['last_time'])
|
||||
obj['last_time'] = scene.objects['System']['time']
|
||||
# Physique du modèle 3D
|
||||
if obj['prior']:
|
||||
obj_engrenage.applyRotation((0, 0, obj_engrenage['step']), True)
|
||||
obj['alpha']= obj['alpha']+obj['step']
|
||||
if scene.objects['System']['time'] != obj['last_time']:
|
||||
obj['speed']= (obj['step'])/(scene.objects['System']['time']-obj['last_time'])
|
||||
obj_portail.applyMovement((obj_portail['step'], 0, 0), True)
|
||||
obj_portail['x']= obj_portail['x']+obj_portail['step'] # Echelle pris en compte par le scale de 'System' : 0,3)
|
||||
if scene.objects['System']['time'] != obj['last_time']:
|
||||
obj_portail['speed']= obj_portail['step']/(scene.objects['System']['time']-obj['last_time'])
|
||||
obj['last_time'] = scene.objects['System']['time']
|
||||
|
||||
# Modele 3D -> Arduino
|
||||
if scene.objects['System']['twins'] and obj['prior_real']:
|
||||
|
|
@ -183,10 +185,11 @@ def mot (cont):
|
|||
# Arrêrer
|
||||
if obj['open']== False and obj['close'] == False and obj['prior']:
|
||||
|
||||
# Physique
|
||||
obj['speed']= 0
|
||||
obj_portail['speed']= 0
|
||||
obj['last_time'] = scene.objects['System']['time']
|
||||
# Physique du modèle 3D
|
||||
if obj['prior']:
|
||||
obj['speed']= 0
|
||||
obj_portail['speed']= 0
|
||||
obj['last_time'] = scene.objects['System']['time']
|
||||
|
||||
# Modele 3D -> Arduino
|
||||
if scene.objects['System']['twins'] and obj['prior_real']:
|
||||
|
|
@ -277,12 +280,15 @@ def ir_emet (cont):
|
|||
# Passif
|
||||
if obj['active'] == False and obj.color !=color_passive:
|
||||
obj.color =color_passive
|
||||
scene.objects['Emetteur IR Led'].setVisible(True,False)
|
||||
scene.objects['Emetteur IR Led-on'].setVisible(False,False)
|
||||
scene.objects['Recepteur IR']['active'] = False
|
||||
|
||||
# Physique du modèle 3D
|
||||
if obj['prior']:
|
||||
scene.objects['Emetteur IR Led'].setVisible(True,False)
|
||||
scene.objects['Emetteur IR Led-on'].setVisible(False,False)
|
||||
scene.objects['Recepteur IR']['active'] = False
|
||||
|
||||
# Modele 3D -> Arduino
|
||||
if scene.objects['System']['twins']:
|
||||
if scene.objects['System']['twins'] and obj['prior_real']:
|
||||
if scene.objects['Emetteur IR']['pin'] is not None:
|
||||
scene.objects['Emetteur IR']['pin'].write(0)
|
||||
return
|
||||
|
|
@ -292,18 +298,21 @@ def ir_emet (cont):
|
|||
|
||||
# Allumage
|
||||
if scene.objects['Emetteur IR Led-on'].visible == False:
|
||||
scene.objects['Emetteur IR Led-on'].setVisible(True,False)
|
||||
scene.objects['Emetteur IR Led'].setVisible(False,False)
|
||||
obj.color = color_active
|
||||
scene.objects['Recepteur IR']['active'] = True
|
||||
|
||||
# Physique du modèle 3D
|
||||
if obj['prior']:
|
||||
scene.objects['Emetteur IR Led-on'].setVisible(True,False)
|
||||
scene.objects['Emetteur IR Led'].setVisible(False,False)
|
||||
obj.color = color_active
|
||||
scene.objects['Recepteur IR']['active'] = True
|
||||
|
||||
# Modele 3D -> Arduino
|
||||
if scene.objects['System']['twins']:
|
||||
if scene.objects['System']['twins'] and obj['prior_real']:
|
||||
if scene.objects['Emetteur IR']['pin'] is not None:
|
||||
scene.objects['Emetteur IR']['pin'].write(1)
|
||||
|
||||
# Forçage par clic
|
||||
if obj['click'] == True:
|
||||
if obj['click'] == True and obj['prior']:
|
||||
obj['activated'] = True
|
||||
scene.objects['Recepteur IR']['activated'] = True
|
||||
|
||||
|
|
@ -338,9 +347,17 @@ def ir_recep (cont):
|
|||
|
||||
# Active
|
||||
if obj['active']:
|
||||
|
||||
# Arduino -> Modele 3D (activé si Pin = False) FIXME : à vérifier avec le jumeau réel
|
||||
if scene.objects['System']['twins'] and obj['prior_real']:
|
||||
if obj['pin'] is not None :
|
||||
if obj['pin'].read()==False and obj['activated_real'] == False :
|
||||
obj['activated_real'] = True
|
||||
if obj['pin'].read()==True and obj['activated_real'] == True :
|
||||
obj['activated_real'] = False
|
||||
|
||||
# Forçage par clic
|
||||
if obj['click'] == True:
|
||||
if obj['click'] == True and obj['prior']:
|
||||
obj['activated'] = True
|
||||
scene.objects['Emetteur IR']['activated'] = True
|
||||
|
||||
|
|
|
|||
|
|
@ -22,9 +22,8 @@ card_twins_title="Jumeau numérique"
|
|||
card_twins_text=""" jumeau(brochage) -> Démarrer le jumelage.\n
|
||||
"brochage" permet de faire le lien entre les \n deux jumeaux (voir la page "Brochage").\n
|
||||
jumeau_stop() -> Arrêter le jumelage.\n
|
||||
jumeau_mode(entrées réelles, entrées \n numériques, sorties réelles, sorties \n numériques) -> Définit les modes d'activation
|
||||
des entrées/sorties : True pour activer \n (par défaut), False pour désactiver. """
|
||||
|
||||
jumeau_mode(entrées réelles, entrées \n numériques, sorties réelles, sorties \n numériques) -> Définit les modes
|
||||
d'activation des entrées/sorties : \n - True pour activer (par défaut), \n - False pour désactiver."""
|
||||
# Avec "carte=jumeau(brochage)", on peut \n utiliser l'objet 'carte' pour communiquer \n directement avec le protocole Firmata.
|
||||
# jumeau_config(port, vitesse) \n -> Définit la configuration de la liaison \n série.\n
|
||||
# Si le port n'est pas spécifié, il sera \n recherché automatiquement (carte \n Arduino Uno ou Mega). \n
|
||||
|
|
@ -40,7 +39,7 @@ card_pin_text=""" Le brochage est un dictionnaire qui permet \n d'associer les o
|
|||
- type : a (analogique) ou d (binaire),
|
||||
- broche : numéro de la broche de carte,
|
||||
- mode : i (entrée), o (sortie) ou p (pwm).
|
||||
Par exemple : brochage = { 'gyr':['d', 3, 'o'] }.\n
|
||||
Par exemple : brochage = { 'gyr':['d',3,'o'] }.\n
|
||||
Les objets numériques du jumeau sont : \n 'bp_ext', 'bp_int', 'fdc_o', 'fdc_f', 'mot_o',\n 'mot_f', 'gyr', 'ir_emet' et 'ir_recep'."""
|
||||
card_pin_url=[]
|
||||
system_card_description.update({"pin-card" : [card_pin_title, card_pin_text, card_pin_url]})
|
||||
|
|
@ -73,7 +72,7 @@ card_movement_text=""" mot_o(True | False) \n -> Ouvrir le portail (moteur sens
|
|||
mot_f(True | False) \n -> Fermer le portail (moteur sens horaire).\n
|
||||
fdc_o() \n -> Capteur fin de course portail ouvert.
|
||||
fdc_f() \n -> Capteur fin de course portail fermé.\n
|
||||
mot_digitset(vitesse) -> Change la vitesse \n du moteur numérique en rad/s. Si 'vitesse' \n est ommis, elle sera réinitialisée."""
|
||||
mot_vitesse(vitesse) -> Change la vitesse \n du moteur numérique en rad/s. Si 'vitesse' \n est ommis, elle sera réinitialisée."""
|
||||
# fdc_o() \n -> Capteur fin de course portail ouvert.\n Retourne True si le portail est ouvert. \n
|
||||
# fdc_f() \n -> Capteur fin de course portail fermé.\n Retourne True si le portail est fermé.\n
|
||||
|
||||
|
|
@ -115,8 +114,7 @@ card_firmata_text=""" Firmata est le protocole de communication \n entre les deu
|
|||
Lors du jumelage, il faut récupérer l'objet \n "carte" avec carte = jumeau(brochage). \n
|
||||
broche = carte.get_pin('type:numéro:mode') \n -> Créer une entrée/sortie (broche) : \n - type : a (analogique) ou d (numérique), \n - mode : i (entrée) , o (sortie) ou p (pwm). \n
|
||||
valeur = broche.read() -> Lit la broche.\n
|
||||
broche.write(valeur) -> Écrire sur la broche.
|
||||
"""
|
||||
broche.write(valeur) -> Écrire sur la broche."""
|
||||
card_firmata_url=[["Protocole Firmata : pyFirmata","https://github.com/tino/pyFirmata"]]
|
||||
system_card_description.update({"firmata-card" : [card_firmata_title, card_firmata_text, card_firmata_url]})
|
||||
|
||||
|
|
|
|||
|
|
@ -102,8 +102,8 @@ def bp_int ():
|
|||
|
||||
# Mode de jumelage (règles d'activation)
|
||||
def jumeau_mode (input_real=True, input_digital=True, output_real=True, output_digital=True):
|
||||
input_objs= ['Microrupteur fdc ouvert', 'Microrupteur fdc ferme', 'Bp cote cour','Bp cote rue', 'Recepteur IR']
|
||||
output_objs= ['Led', 'Moteur', 'Emetteur IR']
|
||||
input_objs = ['Microrupteur fdc ouvert', 'Microrupteur fdc ferme', 'Bp cote cour','Bp cote rue', 'Recepteur IR']
|
||||
output_objs = ['Led', 'Moteur', 'Emetteur IR']
|
||||
jumeau_mode_system (input_objs, output_objs, input_real, input_digital, output_real, output_digital)
|
||||
|
||||
###############################################################################
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
<data>
|
||||
<screen>
|
||||
<width>1609</width>
|
||||
<height>905</height>
|
||||
<width>1590</width>
|
||||
<height>894</height>
|
||||
<quality>1</quality>
|
||||
</screen>
|
||||
<plot>
|
||||
|
|
|
|||
|
|
@ -126,8 +126,8 @@ def plot_config_generate(data_groups):
|
|||
xml_color.text=daq_config[var][2][2]
|
||||
xml_size = ET.SubElement(xml_var, 'linewidth')
|
||||
xml_size.text=str(daq_config[var][2][3])
|
||||
xml_type = ET.SubElement(xml_var, 'type')
|
||||
xml_type.text=str(daq_config[var][0][2])
|
||||
xml_type = ET.SubElement(xml_var, 'type') # Binaire, analogique ou numérique
|
||||
xml_type.text=str(daq_config[var][0][2])
|
||||
|
||||
# Détection de groupe de graphique
|
||||
data_group_i=0
|
||||
|
|
|
|||
|
|
@ -176,7 +176,7 @@ class MainWindow(QtWidgets.QMainWindow):
|
|||
self.setCentralWidget(widget)
|
||||
# print (self.getContentsMargins())
|
||||
|
||||
# Création des graphive à partir du fichier CSV
|
||||
# Remplissage des graphiques à partir du fichier CSV
|
||||
fields, xdata, ydata = csv_read(sys.argv[1])
|
||||
plots_static(self.canvas.plt, fields, xdata, ydata, plot_config, sys.argv[1])
|
||||
self.show()
|
||||
|
|
|
|||
115
twin_plot_wx.py
115
twin_plot_wx.py
|
|
@ -20,116 +20,6 @@ from matplotlib.backends.backend_wxagg import (FigureCanvasWxAgg as FigureCanvas
|
|||
|
||||
plot_config={}
|
||||
|
||||
###############################################################################
|
||||
# Création des graphiques
|
||||
###############################################################################
|
||||
|
||||
def plot_draw(plt):
|
||||
|
||||
twin_config = ET.parse('twin_config.xml').getroot()
|
||||
|
||||
# Lecture fichier CSV
|
||||
fields = []
|
||||
rows = []
|
||||
with open(sys.argv[1], newline='') as csv_buff:
|
||||
csv_reader = csv.reader(csv_buff, delimiter=';')
|
||||
fields = next(csv_reader)
|
||||
for row in csv_reader:
|
||||
rows.append(row)
|
||||
|
||||
# Mise en tableau à deux colonnes (xdata,ydata)
|
||||
xdata=[]
|
||||
ydata=[]
|
||||
i=0
|
||||
for field in fields:
|
||||
xdata_row=[]
|
||||
ydata_row=[]
|
||||
for row in rows:
|
||||
xdata_row.append(float(row[0].replace(',', '.'))) # Revenir au format US des décimaux
|
||||
ydata_row.append(float(row[i].replace(',', '.'))) # Revenir au format US des décimaux
|
||||
xdata.append(xdata_row)
|
||||
ydata.append(ydata_row)
|
||||
i+=1
|
||||
|
||||
# Plots
|
||||
# Groupe de plots : si group = 0 -> nouveau groupe, plot solitaire
|
||||
# si group = -1 -> pas de plot
|
||||
# si group > 0 -> numéro du groupe
|
||||
plt_i=0 # Compteur de plot
|
||||
plt_grp=[] # Groupe de plot [[numéro du plot, groupe du fichier CSV]]
|
||||
for i in range(len(fields)):
|
||||
var = fields[i]
|
||||
plt_current=-1 # Numéro du plot à créer
|
||||
|
||||
if ('group' in plot_config[var]): # Pas de Plot
|
||||
if int(plot_config[var]['group']) !=-1: # Pas de Plot
|
||||
|
||||
# Plot solitaire
|
||||
if int(plot_config[var]['group']) ==0:
|
||||
plt_current = plt_i
|
||||
plt_grp.append([plt_i, 0])
|
||||
plt_i +=1
|
||||
|
||||
# Plot groupé
|
||||
else:
|
||||
plt_new = True # Flag d'un nouveau groupe
|
||||
for j in range(len(plt_grp)):
|
||||
if plt_grp[j][1] == int(plot_config[var]['group']): # Groupe déjà existant
|
||||
plt_current = plt_grp[j][0]
|
||||
plt_new = False
|
||||
break
|
||||
|
||||
# Nouveau groupe
|
||||
if plt_new:
|
||||
plt_current = plt_i
|
||||
plt_grp.append([plt_i, int(plot_config[var]['group'])])
|
||||
plt_i +=1
|
||||
|
||||
# Création du plot unique
|
||||
if plot_nb(plot_config) ==1:
|
||||
if twin_config[1][0].text == "True": # Configuration des plots activée
|
||||
plt.plot(xdata[i], ydata[i], label=var, color=plot_config_get(plot_config, var, 'color'), linewidth=plot_config_get(plot_config, var, 'linewidth'),
|
||||
linestyle=plot_config_get(plot_config, var, 'linestyle'), marker=plot_config_get(plot_config, var, 'marker'))
|
||||
else:
|
||||
plt.plot(xdata[i], ydata[i], '.-', label=var) # Configuration matplotlib par défaut
|
||||
|
||||
# Légende ou titre d'axe y
|
||||
if plt_grp[plt_current][1]==0:
|
||||
plt.set_ylabel(var)
|
||||
else:
|
||||
plt.legend()
|
||||
|
||||
# Création des subplots
|
||||
if plot_nb(plot_config) >1:
|
||||
if twin_config[1][0].text == "True": # Configuration des plots activée
|
||||
plt[plt_current].plot(xdata[i], ydata[i], label=var, color=plot_config_get(plot_config, var, 'color'), linewidth=plot_config_get(plot_config, var, 'linewidth'),
|
||||
linestyle=plot_config_get(plot_config, var, 'linestyle'), marker=plot_config_get(plot_config, var, 'marker'))
|
||||
else:
|
||||
plt[plt_current].plot(xdata[i], ydata[i], '.-', label=var) # Configuration matplotlib par défaut
|
||||
|
||||
# Légende ou titre d'axe y
|
||||
if plt_grp[plt_current][1]==0:
|
||||
plt[plt_current].set_ylabel(var)
|
||||
else:
|
||||
plt[plt_current].legend()
|
||||
|
||||
# Décoration
|
||||
if plot_nb(plot_config) ==1: # 1 plot
|
||||
plt.set_xlabel("Temps (s)")
|
||||
# self.canvas.plt[0].set_ylabel("Valeurs")
|
||||
plt.set_title(sys.argv[1])
|
||||
plt.axhline(linewidth=1, color='k')
|
||||
plt.grid(True, linestyle='--')
|
||||
# self.canvas.plt.legend()
|
||||
else: # Plusieurs plots
|
||||
plt[plt_i-1].set_xlabel("Temps (s)")
|
||||
# self.canvas.plt[0].set_ylabel("Valeurs")
|
||||
plt[0].set_title(sys.argv[1])
|
||||
for i in range (plt_i):
|
||||
plt[i].axhline(linewidth=1, color='k')
|
||||
plt[i].grid(True, linestyle='--')
|
||||
# self.canvas.plt[i].legend()
|
||||
|
||||
###############################################################################
|
||||
# Zone de dessin
|
||||
###############################################################################
|
||||
|
|
@ -147,7 +37,7 @@ class CanvasFrame(wx.Frame):
|
|||
plt = self.figure.subplots(plot_nb(plot_config), 1, sharex=True) # plot_nb() : nombre de graphiques
|
||||
self.canvas = FigureCanvas(self, -1, self.figure)
|
||||
|
||||
# Création des graphive à partir du fichier CSV
|
||||
# Remplissage des graphiques à partir du fichier CSV
|
||||
fields, xdata, ydata = csv_read(sys.argv[1])
|
||||
plots_static(plt, fields, xdata, ydata, plot_config, sys.argv[1])
|
||||
self.canvas.draw()
|
||||
|
|
@ -158,7 +48,8 @@ class CanvasFrame(wx.Frame):
|
|||
self.add_toolbar()
|
||||
self.SetSizer(self.sizer)
|
||||
self.Fit()
|
||||
|
||||
|
||||
# Barre d'outils
|
||||
def add_toolbar(self):
|
||||
self.toolbar = NavigationToolbar(self.canvas)
|
||||
self.toolbar.Realize()
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -19,12 +19,13 @@ scene = bge.logic.getCurrentScene()
|
|||
# Configuration des variables publiques
|
||||
# 'nom_variable' :
|
||||
# - Objet 3D : [nom de l'objet 3D, propriété associée à la valeur (activate ou activated_real), type de la valeur ('d' (digital, binary), 'a', (analog) ou 'n' (numeric)), échelle (1 si ommis)]
|
||||
# - Configuration de la broche : [nom de la propriété stockant l'object broche (pyfirmata), type de broche par défaut('d','a' ou 'p'), 'mode de la broche par défaut ('i' ou 'o')]
|
||||
# - Configuration du graphique : ['marque', 'type de ligne', 'couleur', linewidth]] (matplotlib)
|
||||
# - Configuration de la broche : [nom de la propriété stockant l'object broche (pyfirmata),
|
||||
# type de broche par défaut : 'd' (digital), 'a' (analog) ou 'p' (pwm)), mode de la broche par défaut : 'i' (input) ou 'o' (output)]
|
||||
# - Configuration du graphique : ['marque', 'type de ligne', 'couleur', linewidth]] (Codification de Matplotlib)
|
||||
#
|
||||
# 'nom_variable_r' est la valeur réelle de la variable (valeur numérique) 'nom_variable' issue du jumelage numérique.
|
||||
# Dans ce cas, il n'y a pas configuration de broche car elle est présente sur la variable 'nom_variable'.
|
||||
# Ce distinguo ne concerne que les entrées, car il n'y pas de lecture des "sorties réelles".
|
||||
# Ce distinguo ne concerne que les entrées, car les sorties sont pilotées par le numérique.
|
||||
|
||||
public_vars = {
|
||||
't' : [['System','time','a'], [], []],
|
||||
|
|
@ -46,7 +47,7 @@ public_vars = {
|
|||
'bp_auto' : [['Bp auto','activated','d'], ['pin', 'd','i'], []],
|
||||
'bp_auto_r' : [['Bp auto','activated_real','d'], [], []],
|
||||
'voy_auto' : [['Led auto','activated','d'], ['pin', 'd','o'], []],
|
||||
'lum' : [['Recepteur LDR','activated','a'], ['pin', 'd','i'], []], # Basculer en analogique
|
||||
'lum' : [['Recepteur LDR','activated','a'], ['pin', 'd','i'], []], # FIXME : Basculer en analogique
|
||||
'lum_r' : [['Recepteur LDR','activated_real','a'], [], []]}
|
||||
|
||||
# Couleurs
|
||||
|
|
@ -119,85 +120,88 @@ def mot (cont):
|
|||
# Monter
|
||||
if obj['up']:
|
||||
|
||||
# Physique (sens horaire -> négatif)
|
||||
obj['step'] = abs(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x - scene.objects['Axe enrouleur']['last_alpha'])
|
||||
obj['alpha']=obj['last_alpha'] - obj['step']
|
||||
if scene.objects['System']['time'] != obj['last_time']:
|
||||
obj['speed']= -obj['step']/(scene.objects['System']['time']-obj['last_time'])
|
||||
# print (obj['speed'], obj['step'],scene.objects['System']['time']-obj['last_time'], scene.objects['System']['time'], obj['last_time'])
|
||||
# Physique du modèle 3D
|
||||
if obj['prior']:
|
||||
|
||||
# Animation
|
||||
if obj['frame_down']<105: # Volet pas cassé
|
||||
if obj['frame_up'] <0: # Réinit entre 0 et -4
|
||||
obj['frame_up']=0
|
||||
if obj['frame_up']<110 : # Cycle normal de 0 à 100 (butée en 110)
|
||||
start = obj['frame_up']
|
||||
end = 111
|
||||
priority = 1
|
||||
blendin = 1.0
|
||||
mode = bge.logic.KX_ACTION_MODE_PLAY
|
||||
layerWeight = 0.0
|
||||
ipoFlags = 0
|
||||
speed = 0.4 # FIXME
|
||||
scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, 135, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, 135, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
|
||||
else: # Tourner sans fin
|
||||
# vitesse = 0.015
|
||||
vitesse = 0.03
|
||||
pas_axe_enrouleur = 0.5
|
||||
pas_axe_fdc = 0.5/3
|
||||
# scene.objects['Axe enrouleur'].applyRotation((pas_axe_enrouleur*vitesse, 0, 0), True)
|
||||
scene.objects['Axe fdc'].stopAction(layer)
|
||||
scene.objects['Axe fdc'].applyRotation((-pas_axe_fdc*vitesse, 0, 0), True)
|
||||
if obj['frame_up'] ==170: # Réinit
|
||||
obj['frame_up']=110
|
||||
start = obj['frame_up']
|
||||
end = 171
|
||||
priority = 1
|
||||
blendin = 1.0
|
||||
mode = bge.logic.KX_ACTION_MODE_PLAY
|
||||
layerWeight = 0.0
|
||||
ipoFlags = 0
|
||||
speed = 0.4 # FIXME
|
||||
scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
# scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
|
||||
obj['frame_down']= 100-obj['frame_up']
|
||||
# Physique (sens horaire -> négatif)
|
||||
obj['step'] = abs(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x - scene.objects['Axe enrouleur']['last_alpha'])
|
||||
obj['alpha']=obj['last_alpha'] - obj['step']
|
||||
if scene.objects['System']['time'] != obj['last_time']:
|
||||
obj['speed']= -obj['step']/(scene.objects['System']['time']-obj['last_time'])
|
||||
# print (obj['speed'], obj['step'],scene.objects['System']['time']-obj['last_time'], scene.objects['System']['time'], obj['last_time'])
|
||||
|
||||
# Physique après mouvement (last_*)
|
||||
scene.objects['Axe enrouleur']['last_alpha'] = scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
|
||||
obj['last_time'] = scene.objects['System']['time']
|
||||
obj['last_alpha'] = obj['alpha']
|
||||
# Animation
|
||||
if obj['frame_down']<105: # Volet pas cassé
|
||||
if obj['frame_up'] <0: # Réinit entre 0 et -4
|
||||
obj['frame_up']=0
|
||||
if obj['frame_up']<110 : # Cycle normal de 0 à 100 (butée en 110)
|
||||
start = obj['frame_up']
|
||||
end = 111
|
||||
priority = 1
|
||||
blendin = 1.0
|
||||
mode = bge.logic.KX_ACTION_MODE_PLAY
|
||||
layerWeight = 0.0
|
||||
ipoFlags = 0
|
||||
speed = 0.4 # FIXME
|
||||
scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, 135, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, 135, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
|
||||
else: # Tourner sans fin
|
||||
# vitesse = 0.015
|
||||
vitesse = 0.03
|
||||
pas_axe_enrouleur = 0.5
|
||||
pas_axe_fdc = 0.5/3
|
||||
# scene.objects['Axe enrouleur'].applyRotation((pas_axe_enrouleur*vitesse, 0, 0), True)
|
||||
scene.objects['Axe fdc'].stopAction(layer)
|
||||
scene.objects['Axe fdc'].applyRotation((-pas_axe_fdc*vitesse, 0, 0), True)
|
||||
if obj['frame_up'] ==170: # Réinit
|
||||
obj['frame_up']=110
|
||||
start = obj['frame_up']
|
||||
end = 171
|
||||
priority = 1
|
||||
blendin = 1.0
|
||||
mode = bge.logic.KX_ACTION_MODE_PLAY
|
||||
layerWeight = 0.0
|
||||
ipoFlags = 0
|
||||
speed = 0.4 # FIXME
|
||||
scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
# scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
|
||||
obj['frame_down']= 100-obj['frame_up']
|
||||
|
||||
# Physique après mouvement (last_*)
|
||||
scene.objects['Axe enrouleur']['last_alpha'] = scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
|
||||
obj['last_time'] = scene.objects['System']['time']
|
||||
obj['last_alpha'] = obj['alpha']
|
||||
|
||||
# Modele 3D -> Arduino
|
||||
if scene.objects['System']['twins']:
|
||||
if scene.objects['System']['twins'] and obj['prior_real']:
|
||||
if scene.objects['Moteur']['pin_m'] is not None:
|
||||
if scene.objects['Moteur']['pin_d'] is not None:
|
||||
scene.objects['Moteur']['pin_d'].write(0)
|
||||
|
|
@ -206,45 +210,110 @@ def mot (cont):
|
|||
# Descendre
|
||||
if obj['down']:
|
||||
|
||||
# Physique (sens trigo -> positif)
|
||||
obj['step'] = abs(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x - scene.objects['Axe enrouleur']['last_alpha'])
|
||||
obj['alpha']=obj['last_alpha'] + obj['step']
|
||||
if scene.objects['System']['time'] != obj['last_time']:
|
||||
obj['speed']= obj['step']/(scene.objects['System']['time']-obj['last_time'])
|
||||
# print (round(obj['last_alpha'], 3), round(obj['step'], 3), round(obj['alpha'], 3), round(obj['speed'], 3),
|
||||
# round(scene.objects['Axe enrouleur']['last_alpha'],3), round(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x,3))
|
||||
# Physique du modèle 3D
|
||||
if obj['prior']:
|
||||
|
||||
# Animation
|
||||
if obj['frame_up']<105: # Volet pas cassé
|
||||
if obj['frame_down'] <0: # Réinit entre 0 et -4
|
||||
obj['frame_down']=0
|
||||
if obj['frame_down']<135 : # Cycle normal de 0 à 100 (butée en 135)
|
||||
start = obj['frame_down']
|
||||
end = 136
|
||||
layer = 0
|
||||
priority = 1
|
||||
blendin = 1.0
|
||||
mode = bge.logic.KX_ACTION_MODE_PLAY
|
||||
layerWeight = 0.0
|
||||
ipoFlags = 0
|
||||
speed = 0.4 # FIXME
|
||||
scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Axe fdc'].playAction('Axe fdc-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 1'].playAction('Lame volet 1-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 2'].playAction('Lame volet 2-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 3'].playAction('Lame volet 3-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 4'].playAction('Lame volet 4-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 5'].playAction('Lame volet 5-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 6'].playAction('Lame volet 6-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 7'].playAction('Lame volet 7-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 8'].playAction('Lame volet 8-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 9'].playAction('Lame volet 9-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 10'].playAction('Lame volet 10-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 11'].playAction('Lame volet 11-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 12'].playAction('Lame volet 12-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 13'].playAction('Lame volet 13-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
obj['frame_down'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
|
||||
else: # Tourner sans fin et volet cassé
|
||||
# Physique (sens trigo -> positif)
|
||||
obj['step'] = abs(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x - scene.objects['Axe enrouleur']['last_alpha'])
|
||||
obj['alpha']=obj['last_alpha'] + obj['step']
|
||||
if scene.objects['System']['time'] != obj['last_time']:
|
||||
obj['speed']= obj['step']/(scene.objects['System']['time']-obj['last_time'])
|
||||
# print (round(obj['last_alpha'], 3), round(obj['step'], 3), round(obj['alpha'], 3), round(obj['speed'], 3),
|
||||
# round(scene.objects['Axe enrouleur']['last_alpha'],3), round(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x,3))
|
||||
|
||||
# Animation
|
||||
if obj['frame_up']<105: # Volet pas cassé
|
||||
if obj['frame_down'] <0: # Réinit entre 0 et -4
|
||||
obj['frame_down']=0
|
||||
if obj['frame_down']<135 : # Cycle normal de 0 à 100 (butée en 135)
|
||||
start = obj['frame_down']
|
||||
end = 136
|
||||
layer = 0
|
||||
priority = 1
|
||||
blendin = 1.0
|
||||
mode = bge.logic.KX_ACTION_MODE_PLAY
|
||||
layerWeight = 0.0
|
||||
ipoFlags = 0
|
||||
speed = 0.4 # FIXME
|
||||
scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Axe fdc'].playAction('Axe fdc-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 1'].playAction('Lame volet 1-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 2'].playAction('Lame volet 2-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 3'].playAction('Lame volet 3-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 4'].playAction('Lame volet 4-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 5'].playAction('Lame volet 5-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 6'].playAction('Lame volet 6-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 7'].playAction('Lame volet 7-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 8'].playAction('Lame volet 8-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 9'].playAction('Lame volet 9-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 10'].playAction('Lame volet 10-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 11'].playAction('Lame volet 11-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 12'].playAction('Lame volet 12-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 13'].playAction('Lame volet 13-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
obj['frame_down'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
|
||||
else: # Tourner sans fin et volet cassé
|
||||
scene.objects['Axe enrouleur'].stopAction(layer)
|
||||
scene.objects['Axe fdc'].stopAction(layer)
|
||||
scene.objects['Lame volet 1'].stopAction(layer)
|
||||
scene.objects['Lame volet 2'].stopAction(layer)
|
||||
scene.objects['Lame volet 3'].stopAction(layer)
|
||||
scene.objects['Lame volet 4'].stopAction(layer)
|
||||
scene.objects['Lame volet 5'].stopAction(layer)
|
||||
scene.objects['Lame volet 6'].stopAction(layer)
|
||||
scene.objects['Lame volet 7'].stopAction(layer)
|
||||
scene.objects['Lame volet 8'].stopAction(layer)
|
||||
scene.objects['Lame volet 9'].stopAction(layer)
|
||||
scene.objects['Lame volet 10'].stopAction(layer)
|
||||
scene.objects['Lame volet 11'].stopAction(layer)
|
||||
scene.objects['Lame volet 12'].stopAction(layer)
|
||||
scene.objects['Lame volet 13'].stopAction(layer)
|
||||
vitesse = 0.03 # FIXME
|
||||
# vitesse = 0.015
|
||||
pas_axe_enrouleur = 0.5
|
||||
pas_axe_fdc = 0.5/3
|
||||
pas_volet = 10
|
||||
scene.objects['Axe enrouleur'].applyRotation((-pas_axe_enrouleur*vitesse, 0, 0), True)
|
||||
scene.objects['Axe fdc'].applyRotation((pas_axe_fdc*vitesse, 0, 0), True)
|
||||
scene.objects['Lame volet 1'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 2'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 3'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 4'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 5'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 6'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 7'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 8'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 9'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 10'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 11'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 12'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 13'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
obj['frame_down'] +=1
|
||||
obj['frame_up']= 100-obj['frame_down']
|
||||
|
||||
# Physique après mouvement (last_*)
|
||||
scene.objects['Axe enrouleur']['last_alpha'] = scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
|
||||
obj['last_time'] = scene.objects['System']['time']
|
||||
obj['last_alpha'] = obj['alpha']
|
||||
|
||||
# Modele 3D -> Arduino
|
||||
if scene.objects['System']['twins'] and obj['prior_real']:
|
||||
if scene.objects['Moteur']['pin_d'] is not None:
|
||||
if scene.objects['Moteur']['pin_m'] is not None:
|
||||
scene.objects['Moteur']['pin_m'].write(0)
|
||||
scene.objects['Moteur']['pin_d'].write(1)
|
||||
|
||||
# Arrêt
|
||||
if obj['up'] == False and obj['down'] == False:
|
||||
|
||||
# Physique du modèle 3D
|
||||
if obj['prior']:
|
||||
obj['speed']= 0
|
||||
scene.objects['Axe enrouleur']['last_alpha'] = scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
|
||||
obj['last_time'] = scene.objects['System']['time']
|
||||
obj['last_alpha'] = obj['alpha']
|
||||
|
||||
# Animation
|
||||
if scene.objects['Axe enrouleur'].isPlayingAction(layer):
|
||||
scene.objects['Axe enrouleur'].stopAction(layer)
|
||||
scene.objects['Axe fdc'].stopAction(layer)
|
||||
scene.objects['Lame volet 1'].stopAction(layer)
|
||||
|
|
@ -260,70 +329,9 @@ def mot (cont):
|
|||
scene.objects['Lame volet 11'].stopAction(layer)
|
||||
scene.objects['Lame volet 12'].stopAction(layer)
|
||||
scene.objects['Lame volet 13'].stopAction(layer)
|
||||
vitesse = 0.03 # FIXME
|
||||
# vitesse = 0.015
|
||||
pas_axe_enrouleur = 0.5
|
||||
pas_axe_fdc = 0.5/3
|
||||
pas_volet = 10
|
||||
scene.objects['Axe enrouleur'].applyRotation((-pas_axe_enrouleur*vitesse, 0, 0), True)
|
||||
scene.objects['Axe fdc'].applyRotation((pas_axe_fdc*vitesse, 0, 0), True)
|
||||
scene.objects['Lame volet 1'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 2'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 3'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 4'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 5'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 6'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 7'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 8'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 9'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 10'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 11'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 12'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
scene.objects['Lame volet 13'].applyMovement((0, 0, -pas_volet*vitesse), False)
|
||||
obj['frame_down'] +=1
|
||||
obj['frame_up']= 100-obj['frame_down']
|
||||
|
||||
# Physique après mouvement (last_*)
|
||||
scene.objects['Axe enrouleur']['last_alpha'] = scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
|
||||
obj['last_time'] = scene.objects['System']['time']
|
||||
obj['last_alpha'] = obj['alpha']
|
||||
|
||||
# Modele 3D -> Arduino
|
||||
if scene.objects['System']['twins']:
|
||||
if scene.objects['Moteur']['pin_d'] is not None:
|
||||
if scene.objects['Moteur']['pin_m'] is not None:
|
||||
scene.objects['Moteur']['pin_m'].write(0)
|
||||
scene.objects['Moteur']['pin_d'].write(1)
|
||||
|
||||
# Arrêt
|
||||
if obj['up'] == False and obj['down'] == False:
|
||||
|
||||
# Physique
|
||||
obj['speed']= 0
|
||||
scene.objects['Axe enrouleur']['last_alpha'] = scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
|
||||
obj['last_time'] = scene.objects['System']['time']
|
||||
obj['last_alpha'] = obj['alpha']
|
||||
|
||||
# Animation
|
||||
if scene.objects['Axe enrouleur'].isPlayingAction(layer):
|
||||
scene.objects['Axe enrouleur'].stopAction(layer)
|
||||
scene.objects['Axe fdc'].stopAction(layer)
|
||||
scene.objects['Lame volet 1'].stopAction(layer)
|
||||
scene.objects['Lame volet 2'].stopAction(layer)
|
||||
scene.objects['Lame volet 3'].stopAction(layer)
|
||||
scene.objects['Lame volet 4'].stopAction(layer)
|
||||
scene.objects['Lame volet 5'].stopAction(layer)
|
||||
scene.objects['Lame volet 6'].stopAction(layer)
|
||||
scene.objects['Lame volet 7'].stopAction(layer)
|
||||
scene.objects['Lame volet 8'].stopAction(layer)
|
||||
scene.objects['Lame volet 9'].stopAction(layer)
|
||||
scene.objects['Lame volet 10'].stopAction(layer)
|
||||
scene.objects['Lame volet 11'].stopAction(layer)
|
||||
scene.objects['Lame volet 12'].stopAction(layer)
|
||||
scene.objects['Lame volet 13'].stopAction(layer)
|
||||
|
||||
# Modele 3D -> Arduino
|
||||
if scene.objects['System']['twins']:
|
||||
if scene.objects['System']['twins'] and obj['prior_real']:
|
||||
if scene.objects['Moteur']['pin_d'] is not None:
|
||||
if scene.objects['Moteur']['pin_m'] is not None:
|
||||
scene.objects['Moteur']['pin_m'].write(0)
|
||||
|
|
@ -342,7 +350,7 @@ def fdc_h (cont):
|
|||
obj = cont.owner
|
||||
|
||||
# Arduino -> Modele 3D
|
||||
if scene.objects['System']['twins']:
|
||||
if scene.objects['System']['twins'] and obj['prior_real']:
|
||||
if obj['pin'] is not None:
|
||||
if obj['pin'].read()==True and obj['activated_real'] == False :
|
||||
obj['activated_real'] = True
|
||||
|
|
@ -351,13 +359,13 @@ def fdc_h (cont):
|
|||
|
||||
# Etat capteur en fonction du volet
|
||||
scene.objects['Axe fdc']['rx']= scene.objects['Axe fdc'].localOrientation.to_euler().x *(180/math.pi)
|
||||
if scene.objects['Axe fdc']['rx'] >= -175 and scene.objects['Axe fdc']['rx'] <= -155 and obj['activated'] == False :
|
||||
if scene.objects['Axe fdc']['rx'] >= -175 and scene.objects['Axe fdc']['rx'] <= -155 and obj['activated'] == False and obj['prior']:
|
||||
obj['activated'] = True
|
||||
if scene.objects['Axe fdc']['rx'] < -175 or scene.objects['Axe fdc']['rx'] > -155 and obj['activated'] == True :
|
||||
if scene.objects['Axe fdc']['rx'] < -175 or scene.objects['Axe fdc']['rx'] > -155 and obj['activated'] == True and obj['prior']:
|
||||
obj['activated'] = False
|
||||
|
||||
# Forçage par clic
|
||||
if obj['click'] == True:
|
||||
if obj['click'] == True and obj['prior']:
|
||||
obj['activated'] = True
|
||||
|
||||
# Couleurs
|
||||
|
|
@ -372,7 +380,7 @@ def fdc_b (cont):
|
|||
obj = cont.owner
|
||||
|
||||
# Arduino -> Modele 3D
|
||||
if scene.objects['System']['twins']:
|
||||
if scene.objects['System']['twins'] and obj['prior_real']:
|
||||
if obj['pin'] is not None:
|
||||
if obj['pin'].read()==True and obj['activated_real'] == False :
|
||||
obj['activated_real'] = True
|
||||
|
|
@ -380,13 +388,13 @@ def fdc_b (cont):
|
|||
obj['activated_real'] = False
|
||||
|
||||
# Etat capteur en fonction du volet
|
||||
if scene.objects['Axe fdc']['rx'] >= -10 and scene.objects['Axe fdc']['rx'] <= 10 and obj['activated'] == False :
|
||||
if scene.objects['Axe fdc']['rx'] >= -10 and scene.objects['Axe fdc']['rx'] <= 10 and obj['activated'] == False and obj['prior']:
|
||||
obj['activated'] = True
|
||||
if scene.objects['Axe fdc']['rx'] < -10 or scene.objects['Axe fdc']['rx'] > 10 and obj['activated'] == True :
|
||||
if scene.objects['Axe fdc']['rx'] < -10 or scene.objects['Axe fdc']['rx'] > 10 and obj['activated'] == True and obj['prior']:
|
||||
obj['activated'] = False
|
||||
|
||||
# Forçage par clic
|
||||
if obj['click'] == True:
|
||||
if obj['click'] == True and obj['prior']:
|
||||
obj['activated'] = True
|
||||
|
||||
# Couleurs
|
||||
|
|
@ -418,11 +426,26 @@ def system_init ():
|
|||
|
||||
def system_reset ():
|
||||
|
||||
# Entrées à l'état initial
|
||||
objs= ['Bp monter', 'Bp arret', 'Bp descendre', 'Bp auto', 'Microrupteur haut','Microrupteur bas', 'Recepteur LDR']
|
||||
for obj in objs:
|
||||
scene.objects[obj]['activated']=False
|
||||
scene.objects[obj]['activated_real']=False
|
||||
|
||||
# Voyants aux états initiaux
|
||||
scene.objects['Led auto']['activated']=False
|
||||
scene.objects['Led auto'].setVisible(True,False)
|
||||
scene.objects['Led auto-on'].setVisible(False,False)
|
||||
|
||||
# Volet
|
||||
# Volet et moteur
|
||||
scene.objects['Moteur']['up']=False
|
||||
scene.objects['Moteur']['down']=False
|
||||
scene.objects['Moteur']['alpha']=0
|
||||
scene.objects['Moteur']['last_alpha']=0
|
||||
scene.objects['Moteur']['speed']=0
|
||||
scene.objects['Moteur']['speed_setting']=125.6 # Vitesse du moteur numérique : 125.6 rad /s ( 20 tr / s )
|
||||
scene.objects['Moteur']['step']=0
|
||||
scene.objects['Axe enrouleur']['last_alpha']=scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
|
||||
obj = scene.objects['Moteur']
|
||||
start = 49
|
||||
end = 50
|
||||
|
|
@ -448,30 +471,13 @@ def system_reset ():
|
|||
scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
# print ("reset")
|
||||
obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
|
||||
obj['frame_down']= 100-obj['frame_up']
|
||||
|
||||
# I/O à l'état initial
|
||||
scene.objects['Led auto']['activated']=False
|
||||
scene.objects['Bp monter']['activated']=False
|
||||
scene.objects['Bp monter']['activated_real']=False
|
||||
scene.objects['Bp arret']['activated']=False
|
||||
scene.objects['Bp arret']['activated_real']=False
|
||||
scene.objects['Bp descendre']['activated']=False
|
||||
scene.objects['Bp descendre']['activated_real']=False
|
||||
scene.objects['Bp auto']['activated']=False
|
||||
scene.objects['Bp auto']['activated_real']=False
|
||||
scene.objects['Microrupteur haut']['activated']=False
|
||||
scene.objects['Microrupteur haut']['activated_real']=False
|
||||
scene.objects['Microrupteur bas']['activated']=False
|
||||
scene.objects['Microrupteur bas']['activated_real']=False
|
||||
scene.objects['Moteur']['up']=False
|
||||
scene.objects['Moteur']['down']=False
|
||||
scene.objects['Moteur']['alpha']=0
|
||||
scene.objects['Moteur']['last_alpha']=0
|
||||
scene.objects['Moteur']['speed']=0
|
||||
scene.objects['Moteur']['speed_setting']=125.6 # Vitesse du moteur numérique : 125.6 rad /s ( 20 tr / s )
|
||||
scene.objects['Moteur']['step']=0
|
||||
scene.objects['Axe enrouleur']['last_alpha']=scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
|
||||
scene.objects['Recepteur LDR']['activated']=False
|
||||
# Priorités activées
|
||||
objs= ['Bp monter', 'Bp arret', 'Bp descendre', 'Bp auto', 'Microrupteur haut','Microrupteur bas', 'Recepteur LDR',
|
||||
'Moteur', 'Led auto']
|
||||
for obj in objs:
|
||||
scene.objects[obj]['prior']=True
|
||||
scene.objects[obj]['prior_real']=True
|
||||
|
||||
|
|
|
|||
|
|
@ -42,6 +42,9 @@ from volrou_lib import * # Bibliothèque utilisateur du volet roulant
|
|||
def commandes():
|
||||
|
||||
daq(['mot_angle', 'mot_vitesse'])
|
||||
plot (['mot_angle', 'mot_vitesse'])
|
||||
# plot ([['mot_angle', 'mot_vitesse']])
|
||||
# jumeau_mode(True,True, True, False)
|
||||
|
||||
# Init -> Descendre
|
||||
while fdc_b() ==False :
|
||||
|
|
@ -85,9 +88,7 @@ def commandes():
|
|||
print ("Descendre : "+str(round(t1-t0, 3)) +" s - angle : " +str(round(a1-a0, 3)) + " rad - moteur_vitesse : " +str(round(mot_vitesse, 3))+
|
||||
" rad/s - moteur_pas : " +str(round(mot_pas, 3))+" rad/impulsion")
|
||||
|
||||
# plot ([['mot_angle', 'mot_vitesse']])
|
||||
plot (['mot_angle', 'mot_vitesse'])
|
||||
|
||||
|
||||
fin() # A garder
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -17,10 +17,12 @@ system_card_description ={}
|
|||
|
||||
# Jumeau numérique
|
||||
card_twins_title="Jumeau numérique"
|
||||
card_twins_text=""" jumeau(brochage) \n -> Active le jumeau réel.\n
|
||||
'brochage' permet de faire le lien entre les \n deux jumeaux (plus de précision sur la \n page "Brochage").\n
|
||||
jumeau_stop() \n -> Désactive le jumeau réel.\n
|
||||
Avec "carte=jumeau(brochage)", on peut \n utiliser l'objet 'carte' pour communiquer \n directement avec le protocole Firmata."""
|
||||
card_twins_text=""" jumeau(brochage) -> Démarrer le jumelage.\n
|
||||
"brochage" permet de faire le lien entre les \n deux jumeaux (voir la page "Brochage").\n
|
||||
jumeau_stop() -> Arrêter le jumelage.\n
|
||||
jumeau_mode(entrées réelles, entrées \n numériques, sorties réelles, sorties \n numériques) -> Définit les modes
|
||||
d'activation des entrées/sorties : \n - True pour activer (par défaut), \n - False pour désactiver."""
|
||||
# Avec "carte=jumeau(brochage)", on peut \n utiliser l'objet 'carte' pour communiquer \n directement avec le protocole Firmata.
|
||||
# jumeau_config(port, vitesse) \n -> Définit la configuration de la liaison \n série.\n
|
||||
# Si le port n'est pas spécifié, il sera \n recherché automatiquement (carte \n Arduino Uno ou Mega). \n
|
||||
# La vitesse par défaut est 115200 baud."""
|
||||
|
|
@ -35,7 +37,7 @@ card_pin_text=""" Le brochage est un dictionnaire qui permet \n d'associer les o
|
|||
- type : a (analogique) ou d (numérique),
|
||||
- broche : numéro de la broche de carte,
|
||||
- mode : i (entrée), o (sortie) ou p (pwm).
|
||||
Par exemple : brochage = { 'led':['d', 3, 'o'] }.\n
|
||||
Par exemple : brochage = { 'bp_m':['d',2,'i'] }.\n
|
||||
Les objets numériques du jumeau sont : \n 'bp_m', 'bp_a', 'bp_d', 'mot_m', 'mot_d', \n 'fdc_h', 'fdc_b', 'bp_auto', 'voy_auto' et 'lum'."""
|
||||
card_pin_url=[]
|
||||
system_card_description.update({"pin-card" : [card_pin_title, card_pin_text, card_pin_url]})
|
||||
|
|
@ -99,10 +101,11 @@ system_card_description.update({"model-card" : [card_model_title, card_model_tex
|
|||
|
||||
# Firmata
|
||||
card_firmata_title="Protocole Firmata"
|
||||
card_firmata_text=""" Firmata est le protocole de \n communication entre les deux jumeaux.\n
|
||||
broche = carte.get_pin('type:numéro:mode') \n -> Créer une entrée/sortie (broche) \n - type : a (analogique) ou d (numérique) \n - mode : i (entrée) , o (sortie) ou p (pwm). \n
|
||||
broche.read() \n -> Retourne la valeur de la broche.\n
|
||||
broche.write(valeur) \n -> Écrire la valeur sur la broche."""
|
||||
card_firmata_text=""" Firmata est le protocole de communication \n entre les deux jumeaux via la liaison série.
|
||||
Lors du jumelage, il faut récupérer l'objet \n "carte" avec carte = jumeau(brochage). \n
|
||||
broche = carte.get_pin('type:numéro:mode') \n -> Créer une entrée/sortie (broche) : \n - type : a (analogique) ou d (numérique), \n - mode : i (entrée) , o (sortie) ou p (pwm). \n
|
||||
valeur = broche.read() -> Lit la broche.\n
|
||||
broche.write(valeur) -> Écrire sur la broche."""
|
||||
card_firmata_url=[["Protocole Firmata : pyFirmata","https://github.com/tino/pyFirmata"]]
|
||||
system_card_description.update({"firmata-card" : [card_firmata_title, card_firmata_text, card_firmata_url]})
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
import bge # Bibliothèque Blender Game Engine (UPBGE)
|
||||
import twin_threading # Multithreading (multitâches)
|
||||
from twin_serial import jumeau, jumeau_stop, serial_close # Liaison série
|
||||
from twin_serial import jumeau, jumeau_stop, serial_close, jumeau_mode_system, jumeau_mode_object # Liaison série
|
||||
from twin_daq import get, daq, csv_generate, plot, plot_generate # Acquisition des données
|
||||
import time
|
||||
|
||||
|
|
@ -108,6 +108,16 @@ def bp_d ():
|
|||
def bp_auto ():
|
||||
return scene.objects['Bp auto']['activated']
|
||||
|
||||
###############################################################################
|
||||
# Jumelage
|
||||
###############################################################################
|
||||
|
||||
# Mode de jumelage (règles d'activation)
|
||||
def jumeau_mode (input_real=True, input_digital=True, output_real=True, output_digital=True):
|
||||
input_objs = ['Bp monter', 'Bp arret', 'Bp descendre', 'Bp auto', 'Microrupteur haut', 'Microrupteur bas', 'Recepteur LDR']
|
||||
output_objs = ['Moteur', 'Led auto']
|
||||
jumeau_mode_system (input_objs, output_objs, input_real, input_digital, output_real, output_digital)
|
||||
|
||||
###############################################################################
|
||||
# Cycle
|
||||
###############################################################################
|
||||
|
|
|
|||
Loading…
Reference in New Issue