From 14441591529dee7d1d22a6d9515ace8bb4270b8b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 4 May 2013 16:04:28 +0200 Subject: host/simu/robots/apbirthday: add gifts arm simulation --- host/simu/robots/apbirthday/model/bag.py | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'host/simu/robots/apbirthday/model/bag.py') diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py index 869b75cd..dd3d52f2 100644 --- a/host/simu/robots/apbirthday/model/bag.py +++ b/host/simu/robots/apbirthday/model/bag.py @@ -30,6 +30,7 @@ from simu.model.distance_sensor_sensopart import DistanceSensorSensopart from simu.model.pneumatic_cylinder import PneumaticCylinder from simu.robots.apbirthday.model.cake_arm import CakeArm from simu.robots.apbirthday.model.cannon import Cannon +from simu.robots.apbirthday.model.gifts_arm import GiftsArm from math import pi import random @@ -86,6 +87,11 @@ class Bag: (Switch (link_bag.cherry_plate_left_contact), Switch (link_bag.cherry_plate_right_contact)), link_bag.io_hub.potentiometer) + self.gifts_arm = GiftsArm (table, self.position, + PneumaticCylinder ( + link_bag.gift_in, + link_bag.gift_out, + scheduler, 0., 1., 10., 10., 0.)) self.path = link_bag.io_hub.path self.pos_report = link_bag.io_hub.pos_report -- cgit v1.2.3