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authorNicolas Schodet2012-05-16 23:08:23 +0200
committerNicolas Schodet2012-05-16 23:08:23 +0200
commit83f8db8c8b48938d695635e25ed563fea9afbfdd (patch)
tree70d783a0063e2069dc0eb28865f33e9562a30f70
parent7c628eedf17968a0b5e0aaa9049263433f04795b (diff)
digital/io-hub/src/guybrush: update US sensor position to match hardware
-rw-r--r--digital/io-hub/src/guybrush/radar_defs.c8
-rw-r--r--host/simu/robots/guybrush/model/bag.py8
2 files changed, 8 insertions, 8 deletions
diff --git a/digital/io-hub/src/guybrush/radar_defs.c b/digital/io-hub/src/guybrush/radar_defs.c
index d344f958..a1228526 100644
--- a/digital/io-hub/src/guybrush/radar_defs.c
+++ b/digital/io-hub/src/guybrush/radar_defs.c
@@ -31,13 +31,13 @@
/** Define radar configuration. */
struct radar_sensor_t radar_sensors[RADAR_SENSOR_NB] = {
#define RADAR_SENSOR_FRONT 0
- { &usdist_mm[0], { 120, 0 }, G_ANGLE_UF016_DEG (0) },
+ { &usdist_mm[0], { 150, 0 }, G_ANGLE_UF016_DEG (0) },
#define RADAR_SENSOR_LEFT 1
- { &usdist_mm[1], { 120, 160 }, G_ANGLE_UF016_DEG (0) },
+ { &usdist_mm[1], { 50, 147 }, G_ANGLE_UF016_DEG (0) },
#define RADAR_SENSOR_RIGHT 2
- { &usdist_mm[2], { 120, -160 }, G_ANGLE_UF016_DEG (0) },
+ { &usdist_mm[2], { 50, -147 }, G_ANGLE_UF016_DEG (0) },
#define RADAR_SENSOR_BACK 3
- { &usdist_mm[3], { -130, 0 }, G_ANGLE_UF016_DEG (180) },
+ { &usdist_mm[3], { -120, 0 }, G_ANGLE_UF016_DEG (180) },
};
/** Define exclusion area (considered as invalid point). */
diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py
index 91bfedfa..f2ad12e7 100644
--- a/host/simu/robots/guybrush/model/bag.py
+++ b/host/simu/robots/guybrush/model/bag.py
@@ -75,13 +75,13 @@ class Bag:
)
self.distance_sensor = [
DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table,
- (120, 0), 0, (self.position, ), 4),
+ (150, 0), 0, (self.position, ), 4),
DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table,
- (120, 160), 0, (self.position, ), set ([3, 4])),
+ (50, 147), 0, (self.position, ), set ([3, 4])),
DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table,
- (120, -160), 0, (self.position, ), set ([3, 4])),
+ (50, -147), 0, (self.position, ), set ([3, 4])),
DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table,
- (-130, 0), pi, (self.position, ), 4),
+ (-120, 0), pi, (self.position, ), 4),
]
self.path = link_bag.io_hub.path
self.pos_report = link_bag.io_hub.pos_report