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authorNicolas Schodet2013-05-06 00:36:26 +0200
committerNicolas Schodet2013-05-06 00:36:26 +0200
commitba68e4ff28fc6e0881d3806960d6ad51a574e086 (patch)
treed4e01c2bcd774c06938a934b54930eed0d441e82 /host/simu/robots/apbirthday
parent891d15dc3f5c28d9b7bbbae3abbd2fcb35e46dd9 (diff)
digital/io-hub/src/apbirthday: rework gifts handling
Diffstat (limited to 'host/simu/robots/apbirthday')
-rw-r--r--host/simu/robots/apbirthday/model/gifts_arm.py4
1 files changed, 3 insertions, 1 deletions
diff --git a/host/simu/robots/apbirthday/model/gifts_arm.py b/host/simu/robots/apbirthday/model/gifts_arm.py
index 5bbcd817..0f43bc6a 100644
--- a/host/simu/robots/apbirthday/model/gifts_arm.py
+++ b/host/simu/robots/apbirthday/model/gifts_arm.py
@@ -24,6 +24,7 @@
"""APBirthday gifts arm model."""
from utils.observable import Observable
from simu.utils.vector import vector
+from math import pi
class GiftsArm (Observable):
@@ -37,7 +38,8 @@ class GiftsArm (Observable):
def __arm_notified (self):
if self.arm_cyl.pos > .9:
push_point = (vector (self.robot_position.pos)
- + vector.polar (self.robot_position.angle - 90, 140 + 70))
+ + vector.polar (self.robot_position.angle - pi / 2, 140 + 100)
+ - vector.polar (self.robot_position.angle, 100))
gift = self.table.nearest (push_point, level = 0, max = 150)
if gift is not None and hasattr (gift, 'state'):
gift.state = True