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-rw-r--r--digital/io-hub/src/robospierre/contact_defs.h8
-rw-r--r--digital/io-hub/src/robospierre/pawn_sensor.c2
-rw-r--r--digital/io-hub/tools/io_hub/mex.py2
-rw-r--r--host/simu/robots/robospierre/model/bag.py3
-rw-r--r--host/simu/robots/robospierre/view/bag.py2
5 files changed, 11 insertions, 6 deletions
diff --git a/digital/io-hub/src/robospierre/contact_defs.h b/digital/io-hub/src/robospierre/contact_defs.h
index 1e04f6bf..8c60342a 100644
--- a/digital/io-hub/src/robospierre/contact_defs.h
+++ b/digital/io-hub/src/robospierre/contact_defs.h
@@ -25,8 +25,9 @@
*
* }}} */
-#define CONTACT_COLOR A, 7
-#define CONTACT_JACK F, 7
+#define CONTACT_COLOR E, 5
+#define CONTACT_JACK E, 6
+#define CONTACT_STRAT E, 5
#define CONTACT_FRONT_BOTTOM A, 4
#define CONTACT_FRONT_MIDDLE F, 4
#define CONTACT_BACK_BOTTOM A, 5
@@ -42,6 +43,7 @@
CONTACT (CONTACT_BACK_BOTTOM) \
CONTACT (CONTACT_BACK_MIDDLE) \
CONTACT (CONTACT_BACK_TOP) \
- CONTACT (CONTACT_SIDE)
+ CONTACT (CONTACT_SIDE) \
+ CONTACT (CONTACT_STRAT)
#endif /* contact_defs_h */
diff --git a/digital/io-hub/src/robospierre/pawn_sensor.c b/digital/io-hub/src/robospierre/pawn_sensor.c
index 65f0afe4..3a59e908 100644
--- a/digital/io-hub/src/robospierre/pawn_sensor.c
+++ b/digital/io-hub/src/robospierre/pawn_sensor.c
@@ -52,7 +52,7 @@ struct pawn_sensor_t pawn_sensor_front, pawn_sensor_back;
static uint8_t
pawn_sensor_get_type (uint8_t direction)
{
- uint8_t element_type = contact_get_color () ? ELEMENT_PAWN : ELEMENT_KING;
+ uint8_t element_type = IO_GET (CONTACT_STRAT) ? ELEMENT_PAWN : ELEMENT_KING;
return element_type;
}
diff --git a/digital/io-hub/tools/io_hub/mex.py b/digital/io-hub/tools/io_hub/mex.py
index 44c41010..66060ea1 100644
--- a/digital/io-hub/tools/io_hub/mex.py
+++ b/digital/io-hub/tools/io_hub/mex.py
@@ -31,7 +31,7 @@ ADC_NB = 8
PWM_NB = 6
PWM_VALUE_MAX = 1024
-CONTACT_NB = 9
+CONTACT_NB = 10
CONTACT_INIT = 0xffffffff
class Mex:
diff --git a/host/simu/robots/robospierre/model/bag.py b/host/simu/robots/robospierre/model/bag.py
index 260960f8..b98dafd9 100644
--- a/host/simu/robots/robospierre/model/bag.py
+++ b/host/simu/robots/robospierre/model/bag.py
@@ -34,8 +34,9 @@ class Bag:
def __init__ (self, scheduler, table, link_bag):
self.color_switch = Switch (link_bag.io_hub.contact[0], invert = True)
self.jack = Switch (link_bag.io_hub.contact[1], invert = True)
+ self.strat_switch = Switch (link_bag.io_hub.contact[9], invert = True)
self.contact = [ Switch (contact)
- for contact in link_bag.io_hub.contact[2:] ]
+ for contact in link_bag.io_hub.contact[2:9] ]
self.position = Position (link_bag.asserv.position)
self.clamping_motor = MotorBasic (link_bag.io_hub.pwm[2], scheduler,
8 * pi, 0, pi)
diff --git a/host/simu/robots/robospierre/view/bag.py b/host/simu/robots/robospierre/view/bag.py
index 73aa9fe3..b718f6fe 100644
--- a/host/simu/robots/robospierre/view/bag.py
+++ b/host/simu/robots/robospierre/view/bag.py
@@ -35,6 +35,8 @@ class Bag:
self.jack = Switch (sensor_frame, model_bag.jack, 'Jack')
self.color_switch = Switch (sensor_frame, model_bag.color_switch,
'Color')
+ self.strat_switch = Switch (sensor_frame, model_bag.strat_switch,
+ 'Strat')
self.robot = Robot (table, model_bag.position, model_bag.clamp)
self.clamp = (
ClampTop (actuator_view.add_view (ClampTop.width,