Hackwaw cannon model.

Lasers_und_stuff/Cannon.py

@@ -6,7 +6,7 @@ Created on Nov 11, 2012
 import serial
 import glob
 import threading
-from math import ceil
+import math
 
 def mutex(m):
     def wrapper(self, *args, **kwargs):
@@ -40,6 +40,9 @@ class CannonController :
             
     def set_position(self, point):
         self.position = point
+
+    def translate_yaw(yaw):
+        return yaw
             
     def fire(self):
         self.fired = True
@@ -91,6 +94,7 @@ class CannonController :
         
     def get_data_to_send(self):
         data = self.get_data()
+        data[0] = self.translate_yaw(data[0])
         return [chr(x) for x in data]
     
     def send_data(self):
@@ -107,7 +111,15 @@ class CannonController :
             self.ser.write(data[3])
         else:
             print "Cannot send data, not connected..."
-        
+
+class HackWAWCannonController(CannonController):
+    AXIS_DISTANCE = 20
+    ARM_LENGTH = 1
+    def translate_yaw(yaw):
+        turret_angle = (yaw * math.pi) / 256 - (math.pi / 2)
+        servo_angle = math.asin((ARM_LENGTH * math.tan(turret_angle)) / (AXIS_DISTANCE - ARM_LENGTH))
+        return int(((servo_angle + (math.pi / 2)) * 256) / math.pi)
+
 class Gunpoint :
     def __init__(self, point1, point2, point3):
         self.vertical_angle = point3[1] - point1[1]
@@ -122,6 +134,6 @@ class Gunpoint :
         self.beginnig_vertical = point1[1]
         
     def aim(self, point):
-        horizontal = ceil(self.beginnig_horizontal + self.horizontal_angle*point[0])
-        vertical = ceil(self.beginnig_vertical + self.vertical_angle*point[1])
+        horizontal = math.ceil(self.beginnig_horizontal + self.horizontal_angle*point[0])
+        vertical = math.ceil(self.beginnig_vertical + self.vertical_angle*point[1])
         return [horizontal, vertical]

Lasers_und_stuff/main.py

@@ -75,7 +75,7 @@ def main():
     colors = [GRAY, VIOLET, RED, GREEN, BLUE, VERYLIGHT]
     
     global cannon
-    cannon = CannonController()
+    cannon = HackWAWCannonController()
     
     
     screen = Screen(window, colors)