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-rw-r--r--host/simu/robots/apbirthday/model/bag.py9
1 files changed, 5 insertions, 4 deletions
diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py
index 9e6793ff..b40e199f 100644
--- a/host/simu/robots/apbirthday/model/bag.py
+++ b/host/simu/robots/apbirthday/model/bag.py
@@ -46,15 +46,16 @@ class Bag:
self.beacon = RoundObstacle (40, 5)
table.obstacles.append (self.beacon)
self.position = Position (link_bag.asserv.position, [ self.beacon ])
+ usdist_f = 2040. / 3300
self.distance_sensor = [
DistanceSensorSensopart (link_bag.adc_dist[0], scheduler, table,
- (102, 84), 0, (self.position, ), 4),
+ (102, 84), 0, (self.position, ), 4, factor = usdist_f),
DistanceSensorSensopart (link_bag.adc_dist[1], scheduler, table,
- (102, -84), 0, (self.position, ), 4),
+ (102, -84), 0, (self.position, ), 4, factor = usdist_f),
DistanceSensorSensopart (link_bag.adc_dist[2], scheduler, table,
- (-78, 104), pi, (self.position, ), 4),
+ (-78, 104), pi, (self.position, ), 4, factor = usdist_f),
DistanceSensorSensopart (link_bag.adc_dist[3], scheduler, table,
- (-83, -120), pi, (self.position, ), 4),
+ (-83, -120), pi, (self.position, ), 4, factor = usdist_f),
]
self.cake_front = DistanceSensorTrig (link_bag.adc_cake_front,
scheduler, table, (80, 136), pi / 2, (self.position, ), 0)