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267 lines
11 KiB
Python
267 lines
11 KiB
Python
import bge # Bibliothèque Blender Game Engine (UPBGE)
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import twin # Bibliothèque de l'environnement 3D des jumeaux numériques
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import math
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import time
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###############################################################################
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# montchg.py
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# @title: Commandes pour le monte-charge
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# @project: Blender-EduTech
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# @lang: fr
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# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
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# @copyright: Copyright (C) 2022 Philippe Roy
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# @license: GNU GPL
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###############################################################################
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# Récupérer la scène UPBGE
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scene = bge.logic.getCurrentScene()
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# Couleurs
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color_passive = (0.800, 0.005, 0.315,1) # bouton non activable : magenta
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color_active = (0.799, 0.130, 0.063,1) # bouton activable : orange
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color_hl = (0.8, 0.8, 0.8, 1) # bouton focus : blanc
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color_activated = (0.8, 0.619, 0.021, 1) # bouton activé : jaune
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# Constantes UPBGE
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JUST_ACTIVATED = bge.logic.KX_INPUT_JUST_ACTIVATED
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JUST_RELEASED = bge.logic.KX_INPUT_JUST_RELEASED
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ACTIVATE = bge.logic.KX_INPUT_ACTIVE
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# JUST_DEACTIVATED = bge.logic.KX_SENSOR_JUST_DEACTIVATED
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###############################################################################
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# Initialisation de la scène
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###############################################################################
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def init(cont):
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if cont.sensors['Init'].positive == False: # 1 seule fois
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return False
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twin.manip_init() # Manipulation du modèle 3D
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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['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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###############################################################################
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# Voyants
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###############################################################################
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##
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# Etat voyant 0
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# Modele 3d -> Arduino : FIXME
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# Arduino -> Modele 3d : FIXME
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##
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def voy_0 (cont):
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if scene.objects['System']['run']:
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obj = cont.owner
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if obj['activated'] 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 obj['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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##
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# Etat voyant 1
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# Modele 3d -> Arduino : FIXME
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# Arduino -> Modele 3d : FIXME
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##
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def voy_1 (cont):
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if scene.objects['System']['run']:
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obj = cont.owner
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if obj['activated'] 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 obj['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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###############################################################################
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# Actionneurs
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###############################################################################
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##
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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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##
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def mot (cont):
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if scene.objects['System']['run']:
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obj = cont.owner
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vitesse = 0.015
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pas_cabine = 10 # Diam axe = 3 mm -> 1 tour = 3*math.pi
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pas_pignon = pas_cabine/(3*math.pi) # Z pignon = 48 dents
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pas_vissansfin = pas_pignon*48
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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_cabine['z']= scene.objects['Cabine'].localPosition.z # Affichage de l'altitude de la cabine
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obj_contrepoids = scene.objects['Contrepoids']
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obj_cable = scene.objects['Cable'] # FIXME : plus tard
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if obj['up']:
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obj_vissansfin.applyRotation((0, 0, pas_vissansfin*vitesse), True)
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obj_pignon.applyRotation((pas_pignon*vitesse, 0, 0), True)
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obj_cabine.applyMovement((0, 0, pas_cabine*vitesse), True)
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obj_contrepoids.applyMovement((0, 0, -pas_cabine*vitesse), True)
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# else: # Pas de priorité
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if obj['down']:
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obj_vissansfin.applyRotation((0, 0, -pas_vissansfin*vitesse), True)
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obj_pignon.applyRotation((-pas_pignon*vitesse, 0, 0), True)
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obj_cabine.applyMovement((0, 0, -pas_cabine*vitesse), True)
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obj_contrepoids.applyMovement((0, 0, pas_cabine*vitesse), True)
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###############################################################################
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# Capteurs
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###############################################################################
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##
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# Etat capteur présence cabine niveau 0
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# Modele 3d -> Arduino : FIXME
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# Arduino -> Modele 3d : FIXME
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##
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def pc_0 (cont):
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if scene.objects['System']['run'] :
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obj = cont.owner
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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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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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obj['activated'] = False
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# Forçage (click)
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if obj['click'] == True:
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obj['activated'] = True
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# Couleurs
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if obj['activated'] == True and obj.color !=color_activated:
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obj.color =color_activated
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if obj['activated'] == False :
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if obj['mo'] == True and obj.color !=color_hl:
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obj.color =color_hl
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if obj['mo'] == False and obj.color !=color_active:
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obj.color =color_active
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##
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# Etat capteur présence cabine niveau 1
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# Modele 3d -> Arduino : FIXME
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# Arduino -> Modele 3d : FIXME
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##
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def pc_1 (cont):
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if scene.objects['System']['run'] :
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obj = cont.owner
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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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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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obj['activated'] = False
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# Forçage (click)
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if obj['click'] == True:
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obj['activated'] = True
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# Couleurs
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if obj['activated'] == True and obj.color !=color_activated:
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obj.color =color_activated
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if obj['activated'] == False :
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if obj['mo'] == True and obj.color !=color_hl:
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obj.color =color_hl
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if obj['mo'] == False and obj.color !=color_active:
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obj.color =color_active
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###############################################################################
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# Boutons
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###############################################################################
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# Modele 3d -> Arduino : FIXME
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# Arduino -> Modele 3d : FIXME
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# Arduino -> numérique
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# bt_a_m_txt = txt_extrac_bool(serial_msg,"bt_a_m: ")
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# bt_a_d_txt = txt_extrac_bool(serial_msg,"bt_a_d: ")
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# bt_b_m_txt = txt_extrac_bool(serial_msg,"bt_b_m: ")
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# bt_b_d_txt = txt_extrac_bool(serial_msg,"bt_b_d: ")
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# bt_c_m_txt = txt_extrac_bool(serial_msg,"bt_c_m: ")
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# bt_c_d_txt = txt_extrac_bool(serial_msg,"bt_c_d: ")
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# bp_phy('Bp Am', bt_a_m_txt)
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# bp_phy('Bp Ad', bt_a_d_txt)
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# bp_phy('Bp Bm', bt_b_m_txt)
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# bp_phy('Bp Bd', bt_b_d_txt)
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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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# # 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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# Système
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###############################################################################
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##
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# Initialisation du système
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# # Le moteur est géré en continue.
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##
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def system_init ():
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system_reset()
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##
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# Réinitialisation du système
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##
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def system_reset ():
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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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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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scene.objects['Contrepoids'].worldPosition.x = scene.objects['Contrepoids']['init_lx']-scene.objects['System']['init_lx']+scene.objects['System'].worldPosition.x
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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 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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scene.objects['Moteur']['up']=False
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scene.objects['Moteur']['down']=False
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