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authorNicolas Schodet2012-05-16 22:26:06 +0200
committerNicolas Schodet2012-05-16 22:26:06 +0200
commit032cdc6525dad927c2f19d4b027588afe1bc0e27 (patch)
tree69ea5351e2fef0808c0561b45d57163d03e07794 /host/simu/robots/guybrush/model/bag.py
parent80164e9198ab46811509f7e8c7a06982bd5c7541 (diff)
digital/io-hub/src/guybrush: add nb robots switch
Diffstat (limited to 'host/simu/robots/guybrush/model/bag.py')
-rw-r--r--host/simu/robots/guybrush/model/bag.py3
1 files changed, 2 insertions, 1 deletions
diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py
index c1e66290..91bfedfa 100644
--- a/host/simu/robots/guybrush/model/bag.py
+++ b/host/simu/robots/guybrush/model/bag.py
@@ -49,11 +49,12 @@ class Bag:
self.color_switch.notify ()
self.jack = Switch (link_bag.io_hub.contact[1], invert = True)
self.strat_switch = Switch (link_bag.io_hub.contact[2], invert = True)
+ self.nb_robots_switch = Switch (link_bag.io_hub.contact[12], invert = True)
self.beacon = RoundObstacle (40, 5)
table.obstacles.append (self.beacon)
self.position = Position (link_bag.asserv.position, [ self.beacon ])
output = link_bag.io_hub.output
- contact = [ Switch (c) for c in link_bag.io_hub.contact[3:] ]
+ contact = [ Switch (c) for c in link_bag.io_hub.contact[3:12] ]
self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0],
(PneumaticCylinder (output[self.OUTPUT_LOWER_CLAMP_1_CLOSE],
None, scheduler, 0., 30., 150., 75., 30.),