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synced 2024-01-27 06:56:18 +01:00
Ajout de la boucle principale
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@ -40,12 +40,18 @@ def init(cont):
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twin.cmd_init() # Commandes
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# Mémorisation de la position et orientation des composants du système au départ
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# scene.objects['Cabine']['init_lx']=scene.objects['Portail'].worldPosition.x
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# scene.objects['Portail']['init_ly']=scene.objects['Portail'].worldPosition.y
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# scene.objects['Portail']['init_lz']=scene.objects['Portail'].worldPosition.z
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# scene.objects['Engrenage']['init_rx']=scene.objects['Engrenage'].worldOrientation.to_euler().x
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# scene.objects['Engrenage']['init_ry']=scene.objects['Engrenage'].worldOrientation.to_euler().y
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# scene.objects['Engrenage']['init_rz']=scene.objects['Engrenage'].worldOrientation.to_euler().z
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scene.objects['Cabine']['init_lx']=scene.objects['Cabine'].worldPosition.x
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scene.objects['Cabine']['init_ly']=scene.objects['Cabine'].worldPosition.y
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scene.objects['Cabine']['init_lz']=scene.objects['Cabine'].worldPosition.z
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scene.objects['Contrepoids']['init_lx']=scene.objects['Contrepoids'].worldPosition.x
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scene.objects['Contrepoids']['init_ly']=scene.objects['Contrepoids'].worldPosition.y
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scene.objects['Contrepoids']['init_lz']=scene.objects['Contrepoids'].worldPosition.z
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scene.objects['Moteur vis sans fin']['init_rx']=scene.objects['Moteur vis sans fin'].worldOrientation.to_euler().x
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scene.objects['Moteur vis sans fin']['init_ry']=scene.objects['Moteur vis sans fin'].worldOrientation.to_euler().y
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scene.objects['Moteur vis sans fin']['init_rz']=scene.objects['Moteur vis sans fin'].worldOrientation.to_euler().z
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scene.objects['Moteur pignon']['init_rx']=scene.objects['Moteur pignon'].worldOrientation.to_euler().x
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scene.objects['Moteur pignon']['init_ry']=scene.objects['Moteur pignon'].worldOrientation.to_euler().y
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scene.objects['Moteur pignon']['init_rz']=scene.objects['Moteur pignon'].worldOrientation.to_euler().z
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system_init() # Initialisation du système
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@ -53,22 +59,6 @@ def init(cont):
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# Actionneurs
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###############################################################################
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##
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# Action du simulateur pour le clignotant
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##
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# def sml_clignotant (cont):
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# if scene.objects['System']['run']:
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# obj = cont.owner
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# if obj['actif'] and scene.objects['Led allumee'].visible == False:
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# scene.objects['Led allumee'].setVisible(True,False)
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# scene.objects['Led'].setVisible(False,False)
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# # print ("Clignotant allumée")
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# if obj['actif']==False and scene.objects['Led allumee'].visible == True:
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# scene.objects['Led'].setVisible(True,False)
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# scene.objects['Led allumee'].setVisible(False,False)
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# # print ("Clignotant éteint")
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##
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# Action du simulateur pour le moteur
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##
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@ -147,70 +137,6 @@ def init(cont):
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# if obj_microrupteur['MO'] == False and obj_microrupteur.color !=couleur_orange:
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# obj_microrupteur.color =couleur_orange
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# ##
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# # Forçage capteur fin de course avec la souris
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# ##
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# def sml_microrupteur (cont):
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# if scene.objects['System']['run'] :
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# system_click(cont, cont.owner)
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# ###############################################################################
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# # Capteur barrage
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# ###############################################################################
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# ##
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# # Emetteur IR
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# ##
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# def sml_emet_ir (cont):
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# if scene.objects['System']['run'] :
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# obj = cont.owner
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# obj_emetteur_ir=scene.objects['Emetteur IR']
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# obj_recepteur_ir=scene.objects['Recepteur IR']
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# if obj['actif'] and scene.objects['Emetteur IR Led allumee'].visible == False:
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# scene.objects['Emetteur IR Led allumee'].setVisible(True,False)
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# scene.objects['Emetteur IR Led'].setVisible(False,False)
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# obj_emetteur_ir.color = couleur_orange
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# obj_recepteur_ir.color = couleur_orange
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# if obj['actif']==False and scene.objects['Emetteur IR Led allumee'].visible == True:
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# scene.objects['Emetteur IR Led'].setVisible(True,False)
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# scene.objects['Emetteur IR Led allumee'].setVisible(False,False)
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# obj_emetteur_ir.color = couleur_magenta
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# obj_recepteur_ir.color = couleur_magenta
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# ##
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# # Récepteur IR
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# ##
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# def sml_recep_ir (cont):
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# if scene.objects['System']['run'] and scene.objects['Module emetteur IR']['actif'] :
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# obj = cont.owner
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# system_click(cont, scene.objects['Module recepteur IR'])
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# if scene.objects['Module recepteur IR']['actif']==True :
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# scene.objects['Emetteur IR'].color = couleur_jaune
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# scene.objects['Recepteur IR'].color = couleur_jaune
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# ###############################################################################
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# # Boutons poussoirs
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# ###############################################################################
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# ##
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# # Bouton pousssoir coté rue
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# ##
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# def sml_bp_rue (cont):
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# if scene.objects['System']['run'] :
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# system_click(cont, scene.objects['Module bouton cote rue'])
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# ##
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# # Bouton pousssoir coté cour
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# ##
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# def sml_bp_cour (cont):
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# if scene.objects['System']['run'] :
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# system_click(cont, scene.objects['Module bouton cote cour'])
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###############################################################################
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# Système
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###############################################################################
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@ -237,9 +163,12 @@ def system_reset ():
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# Cabine
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# # applyRotationTo(scene.objects['System'], 0, 0, 0)
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# scene.objects['Portail'].worldPosition.x = scene.objects['Portail']['init_lx']
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# scene.objects['Portail'].worldPosition.y = scene.objects['Portail']['init_ly']
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# scene.objects['Portail'].worldPosition.z = scene.objects['Portail']['init_lz']
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scene.objects['Cabine'].worldPosition.x = scene.objects['Cabine']['init_lx']
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scene.objects['Cabine'].worldPosition.y = scene.objects['Cabine']['init_ly']
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scene.objects['Cabine'].worldPosition.z = scene.objects['Cabine']['init_lz']
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scene.objects['Contrepoids'].worldPosition.x = scene.objects['Contrepoids']['init_lx']
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scene.objects['Contrepoids'].worldPosition.y = scene.objects['Contrepoids']['init_ly']
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scene.objects['Contrepoids'].worldPosition.z = scene.objects['Contrepoids']['init_lz']
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# # Moteur à l'état initial
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# rres=0.001 # resolution rotation
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@ -272,24 +201,64 @@ def system_run ():
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# serial_msg=""
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# return
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# Position cabine numérique
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print ("serial_msg : ", serial_msg)
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roll_txt = txt_extrac(serial_msg,"Roll (Rx): ", " Pitch")
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# pitch_txt= txt_extrac(serial_msg,"Pitch (Ry): ", " \\r\\n")
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pitch_txt = txt_extrac(serial_msg,"Pitch (Ry): ", " bt_a_m:")
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if roll_txt !="" and pitch_txt !="" :
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obj1=scene.objects['Plateau']
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roll=float(roll_txt)/57.3
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pitch=float(pitch_txt)/57.3
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# print ("Roll : ", roll, " Pitch : ", pitch)
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applyRotationTo(scene.objects['Plateau'], roll,0, 0)
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applyRotationTo(scene.objects['Plateau'], roll,pitch, 0)
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scene.objects['Plateau']['roll']=roll
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scene.objects['Plateau']['pitch']=pitch
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# Voyant niveau 0
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# Modele 3d -> Arduino : FIXME
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# Arduino -> Modele 3d : FIXME
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if scene.objects['Led niveau 0']['activated']==True and scene.objects['Led niveau 0-on'].visible == False:
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scene.objects['Led niveau 0-on'].setVisible(True,False)
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scene.objects['Led niveau 0'].setVisible(False,False)
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if scene.objects['Led niveau 0']['activated']==False and scene.objects['Led niveau 0-on'].visible == True:
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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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# Capteurs numériques
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# Voyant niveau 1
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# Modele 3d -> Arduino : FIXME
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# Arduino -> Modele 3d : FIXME
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if scene.objects['Led niveau 1']['activated']==True and scene.objects['Led niveau 1-on'].visible == False:
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scene.objects['Led niveau 1-on'].setVisible(True,False)
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scene.objects['Led niveau 1'].setVisible(False,False)
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if scene.objects['Led niveau 1']['activated']==False and scene.objects['Led niveau 1-on'].visible == True:
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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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# Moteur et cabine
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# Modele 3d -> Arduino : FIXME
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# Arduino -> Modele 3d : FIXME
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obj = cont.owner
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pas_rot = math.pi/7 # z = 14
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pas = 2.35619/0.3 # pas echelle 1:1 = 2.35619 -> pas à l'échelle de la maquette (0,3) : 2.35619/0.3 = 7,85396
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vitesse = 0.05
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obj_moteur = scene.objects['Moteur']
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obj_vissansfin = scene.objects['Moteur vis sans fin']
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obj_pignon = scene.objects['Moteur pignon']
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obj_cabine = scene.objects['Cabine']
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obj_contrepoids = scene.objects['Contrepoids']
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obj_cable = scene.objects['Cable']
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if obj_moteur['up']:
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# print (scene.objects['Portail'].worldPosition.x)
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obj_cabine.applyMovement((0, 0, pas*vitesse), True)
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# engrenage_obj.applyRotation((0, 0, -pas_rot*vitesse), True)
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# else:
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if obj_moteur['down']:
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# print (scene.objects['Portail'].worldPosition.x)
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obj_cabine.applyMovement((0, 0, -pas*vitesse), True)
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# engrenage_obj.applyRotation((0, 0, pas_rot*vitesse), True)
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# print ("serial_msg : ", serial_msg)
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# roll_txt = txt_extrac(serial_msg,"Roll (Rx): ", " Pitch")
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# # pitch_txt= txt_extrac(serial_msg,"Pitch (Ry): ", " \\r\\n")
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# pitch_txt = txt_extrac(serial_msg,"Pitch (Ry): ", " bt_a_m:")
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# if roll_txt !="" and pitch_txt !="" :
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# obj1=scene.objects['Plateau']
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# roll=float(roll_txt)/57.3
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# pitch=float(pitch_txt)/57.3
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# # print ("Roll : ", roll, " Pitch : ", pitch)
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# applyRotationTo(scene.objects['Plateau'], roll,0, 0)
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# applyRotationTo(scene.objects['Plateau'], roll,pitch, 0)
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# scene.objects['Plateau']['roll']=roll
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# scene.objects['Plateau']['pitch']=pitch
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# Capteurs
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# Modele 3d -> Arduino : FIXME
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# Arduino -> Modele 3d : FIXME
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@ -307,33 +276,16 @@ def system_run ():
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# bp_phy('Bp Cm', bt_c_m_txt)
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# bp_phy('Bp Cd', bt_c_d_txt)
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# # Voyants aux états initiaux
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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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# # applyRotationTo(scene.objects['System'], 0, 0, 0)
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# scene.objects['Portail'].worldPosition.x = scene.objects['Portail']['init_lx']
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# scene.objects['Portail'].worldPosition.y = scene.objects['Portail']['init_ly']
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# scene.objects['Portail'].worldPosition.z = scene.objects['Portail']['init_lz']
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# # Moteur à l'état initial
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# rres=0.001 # resolution rotation
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# obj1=scene.objects['Engrenage']
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# while (obj1.localOrientation.to_euler().y) > 1.1*rres :
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# obj1.applyRotation((0, 0, -rres), True)
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# while (obj1.localOrientation.to_euler().y) < -1.1*rres :
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# obj1.applyRotation((0, 0, rres), True)
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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 1']['activated']=False
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# scene.objects['Microrupteur niveau 0']['activated']=False
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# scene.objects['Microrupteur niveau 1']['activated']=False
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# # Affichage de l'activation physique des boutons
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# def bp_phy(obj_name, bp_phy_sig):
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# obj=scene.objects[obj_name]
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# if bp_phy_sig =="0":
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# obj['actif_phy'] = True
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# obj.color = couleur_jaune
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# else:
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# if obj['actif_phy']:
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# obj['actif_phy'] = False
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# obj.color = couleur_orange
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###############################################################################
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# Interface
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@ -377,77 +329,3 @@ def click(cont):
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scene.objects[name].color = color_hl
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else:
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scene.objects[name].color = color_active
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##
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# Activation réel
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##
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# FIXME
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# obj = cont.owner
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# if cont.sensors['MO'].status == JUST_ACTIVATED :
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# obj.color = couleur_blanc
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# obj['MO']=True
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# if cont.sensors['Click'].status == JUST_ACTIVATED and scene.objects['System']['manip_mode']==0:
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# if obj['MO']:
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# obj_activation['actif'] = True
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# obj.color = couleur_jaune
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# if cont.sensors['MO'].status == JUST_RELEASED :
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# obj['MO']=False
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# if cont.sensors['Click'].status == ACTIVATE :
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# obj.color = couleur_jaune
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# else:
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# obj.color = couleur_orange
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# if cont.sensors['Click'].status == JUST_RELEASED:
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# obj_activation['actif'] = False
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# obj.color = couleur_blanc
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# if cont.sensors['MO'].status != ACTIVATE :
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# obj.color = couleur_orange
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# ###############################################################################
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# # Boutons poussoirs
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# ###############################################################################
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# # Activation numérique des boutons
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# def bp_num(cont):
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# if scene.objects['Systeme']['run'] :
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# obj = cont.owner
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# # print(obj.name, "obj.name")
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# if cont.sensors['MO'].status == JUST_ACTIVATED :
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# obj.color = couleur_blanc
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# obj['MO']=True
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# if cont.sensors['Click'].status == JUST_ACTIVATED and scene.objects['Systeme']['manip_mode']==0:
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# if obj['MO']:
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# obj['actif_num'] = True
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# # print(obj.name, "activé")
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# obj.color = couleur_jaune
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# serial_msg = obj.name+"\n"
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# serial_comm.write(serial_msg.encode()) # Communication série : modele 3d -> arduino
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# if cont.sensors['MO'].status == JUST_RELEASED :
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# if obj['MO']:
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# obj['MO']=False
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# if cont.sensors['Click'].status == ACTIVATE :
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# obj.color = couleur_jaune
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# else:
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# obj.color = couleur_orange
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# if cont.sensors['Click'].status == JUST_RELEASED:
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# if obj['actif_num']:
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# obj['actif_num'] = False
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# # print(obj.name, "desactivé")
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# obj.color = couleur_blanc
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# serial_msg = obj.name+" R\n"
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# # serial_msg = "RELEASED"+"\n"
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# serial_comm.write(serial_msg.encode()) # Communication série : modele 3d -> arduino
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# if cont.sensors['MO'].status != ACTIVATE :
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# obj.color = couleur_orange
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# # Affichage de l'activation physique des boutons
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# def bp_phy(obj_name, bp_phy_sig):
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# obj=scene.objects[obj_name]
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# if bp_phy_sig =="0":
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# obj['actif_phy'] = True
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# obj.color = couleur_jaune
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# else:
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# if obj['actif_phy']:
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# obj['actif_phy'] = False
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# obj.color = couleur_orange
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@ -42,7 +42,7 @@ def commandes():
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print ("Ok go !!")
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# Ecrire votre code ici ...
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# voy_0(True) # Activer le voyant du niveau 0
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voy_0(True) # Activer le voyant du niveau 0
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while True:
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pass
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@ -153,12 +153,12 @@ def quit():
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# Ordre pour le voyant 0
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def voy_0 (order):
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scene.objects['Led niveau 0']['activated']=order
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if order:
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scene.objects['Led niveau 0-on'].setVisible(True,False)
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scene.objects['Led niveau 0'].setVisible(False,False)
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else:
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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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# if order:
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# scene.objects['Led niveau 0-on'].setVisible(True,False)
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# scene.objects['Led niveau 0'].setVisible(False,False)
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# else:
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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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# global gyr_pin
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# if scene.objects['System']['twins'] :
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# if ordre :
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@ -169,12 +169,12 @@ def voy_0 (order):
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# Ordre pour le voyant 1
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def voy_1 (order):
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scene.objects['Led niveau 1']['activated']=order
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if order:
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scene.objects['Led niveau 1-on'].setVisible(True,False)
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scene.objects['Led niveau 1'].setVisible(False,False)
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else:
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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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# if order:
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# scene.objects['Led niveau 1-on'].setVisible(True,False)
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# scene.objects['Led niveau 1'].setVisible(False,False)
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# else:
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# scene.objects['Led niveau 1'].setVisible(True,False)
|
||||
# scene.objects['Led niveau 1-on'].setVisible(False,False)
|
||||
|
||||
# Ordre pour le moteur phase monter
|
||||
def mot_m (order):
|
||||
|
||||
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Reference in New Issue
Block a user