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-rw-r--r--host/simu/robots/apbirthday/model/bag.py11
1 files changed, 11 insertions, 0 deletions
diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py
index 28295e63..2043270b 100644
--- a/host/simu/robots/apbirthday/model/bag.py
+++ b/host/simu/robots/apbirthday/model/bag.py
@@ -29,6 +29,7 @@ from simu.model.distance_sensor_trig import DistanceSensorTrig
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 math import pi
import random
@@ -72,5 +73,15 @@ class Bag:
link_bag.cake_push_near_out,
scheduler, 0., 1., 10., 10., 0.),
link_bag.cake_arm_out_contact, link_bag.cake_arm_in_contact)
+ self.cannon = Cannon (table, self.position,
+ PneumaticCylinder (
+ link_bag.cherry_plate_up,
+ link_bag.cherry_plate_down,
+ scheduler, 0., 1., 2., 2., 1.),
+ PneumaticCylinder (None,
+ link_bag.cherry_plate_clamp,
+ scheduler, 0., 1., 10., 10., 0.),
+ (Switch (link_bag.cherry_plate_left_contact),
+ Switch (link_bag.cherry_plate_right_contact)))
self.pos_report = link_bag.io_hub.pos_report