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authorNicolas Schodet2013-04-28 10:39:20 +0200
committerNicolas Schodet2013-04-28 10:39:20 +0200
commitf294fcada06f6df17fa960739a7c388be4afb401 (patch)
tree44010c334890edce26ac9f5a13e6ceb3d2badf13
parent5af3a10f62da1b4d918583b347255d2977cc6c71 (diff)
digital/io-hub/src/apbirthday: update according to spoke resistance
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc12
-rw-r--r--host/simu/robots/apbirthday/model/bag.py9
2 files changed, 13 insertions, 8 deletions
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index 08222e22..fa654e98 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -53,10 +53,14 @@ Robot::Robot ()
jack (hardware.raw_jack, 50),
demo (false),
usdist_control_ (2),
- usdist0_ (usdist_control_, hardware.adc_dist0, hardware.dist0_sync, 100, 700, 650),
- usdist1_ (usdist_control_, hardware.adc_dist1, hardware.dist1_sync, 100, 700, 650),
- usdist2_ (usdist_control_, hardware.adc_dist2, hardware.dist2_sync, 100, 700, 650),
- usdist3_ (usdist_control_, hardware.adc_dist3, hardware.dist3_sync, 100, 700, 650),
+ usdist0_ (usdist_control_, hardware.adc_dist0, hardware.dist0_sync, 100, 700, 650,
+ hardware.adc_dist0.get_resolution () * 2040 / 3300),
+ usdist1_ (usdist_control_, hardware.adc_dist1, hardware.dist1_sync, 100, 700, 650,
+ hardware.adc_dist1.get_resolution () * 2040 / 3300),
+ usdist2_ (usdist_control_, hardware.adc_dist2, hardware.dist2_sync, 100, 700, 650,
+ hardware.adc_dist2.get_resolution () * 2040 / 3300),
+ usdist3_ (usdist_control_, hardware.adc_dist3, hardware.dist3_sync, 100, 700, 650,
+ hardware.adc_dist3.get_resolution () * 2040 / 3300),
radar_ (usdist0_, usdist1_, usdist2_, usdist3_),
candles (1),
fsm_debug_state_ (FSM_DEBUG_RUN),
diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py
index 9e6793ff..b40e199f 100644
--- a/host/simu/robots/apbirthday/model/bag.py
+++ b/host/simu/robots/apbirthday/model/bag.py
@@ -46,15 +46,16 @@ class Bag:
self.beacon = RoundObstacle (40, 5)
table.obstacles.append (self.beacon)
self.position = Position (link_bag.asserv.position, [ self.beacon ])
+ usdist_f = 2040. / 3300
self.distance_sensor = [
DistanceSensorSensopart (link_bag.adc_dist[0], scheduler, table,
- (102, 84), 0, (self.position, ), 4),
+ (102, 84), 0, (self.position, ), 4, factor = usdist_f),
DistanceSensorSensopart (link_bag.adc_dist[1], scheduler, table,
- (102, -84), 0, (self.position, ), 4),
+ (102, -84), 0, (self.position, ), 4, factor = usdist_f),
DistanceSensorSensopart (link_bag.adc_dist[2], scheduler, table,
- (-78, 104), pi, (self.position, ), 4),
+ (-78, 104), pi, (self.position, ), 4, factor = usdist_f),
DistanceSensorSensopart (link_bag.adc_dist[3], scheduler, table,
- (-83, -120), pi, (self.position, ), 4),
+ (-83, -120), pi, (self.position, ), 4, factor = usdist_f),
]
self.cake_front = DistanceSensorTrig (link_bag.adc_cake_front,
scheduler, table, (80, 136), pi / 2, (self.position, ), 0)