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authorNicolas Schodet2013-05-04 16:04:28 +0200
committerNicolas Schodet2013-05-04 16:07:24 +0200
commit14441591529dee7d1d22a6d9515ace8bb4270b8b (patch)
treef6efb8b808f32715c7c507b0ba44e7a3f4f78795 /host/simu/robots/apbirthday/model/bag.py
parent66b3d174b1e246b984f1b001c16a4c07bb6e2754 (diff)
host/simu/robots/apbirthday: add gifts arm simulation
Diffstat (limited to 'host/simu/robots/apbirthday/model/bag.py')
-rw-r--r--host/simu/robots/apbirthday/model/bag.py6
1 files changed, 6 insertions, 0 deletions
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