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-rw-r--r--host/simu/robots/apbirthday/model/bag.py5
-rw-r--r--host/simu/robots/apbirthday/view/bag.py3
2 files changed, 8 insertions, 0 deletions
diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py
index ce2c8667..2c026740 100644
--- a/host/simu/robots/apbirthday/model/bag.py
+++ b/host/simu/robots/apbirthday/model/bag.py
@@ -25,6 +25,7 @@
from simu.model.switch import Switch
from simu.model.position import Position
from simu.model.round_obstacle import RoundObstacle
+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
@@ -51,6 +52,10 @@ class Bag:
DistanceSensorSensopart (link_bag.adc_dist[3], scheduler, table,
(-83, -120), pi, (self.position, ), 4),
]
+ self.cake_front = DistanceSensorTrig (link_bag.adc_cake_front,
+ scheduler, table, (80, 136), pi / 2, (self.position, ), 0)
+ self.cake_back = DistanceSensorTrig (link_bag.adc_cake_back,
+ scheduler, table, (-66, 139), pi / 2, (self.position, ), 0)
self.cake_arm = CakeArm (table, self.position,
PneumaticCylinder (
link_bag.cake_arm_in,
diff --git a/host/simu/robots/apbirthday/view/bag.py b/host/simu/robots/apbirthday/view/bag.py
index a5d733e1..6a9e2d3d 100644
--- a/host/simu/robots/apbirthday/view/bag.py
+++ b/host/simu/robots/apbirthday/view/bag.py
@@ -23,6 +23,7 @@
# }}}
"""APBirthday bag of views."""
from simu.view.switch import Switch
+from simu.view.distance_sensor import DistanceSensor
from simu.view.distance_sensor_us import DistanceSensorUS
from simu.view.pos_report import PosReport
from simu.robots.apbirthday.view.robot import Robot
@@ -36,5 +37,7 @@ class Bag:
self.robot = Robot (table, model_bag.position, model_bag.cake_arm)
self.distance_sensor = [DistanceSensorUS (self.robot, ds)
for ds in model_bag.distance_sensor]
+ self.cake_front = DistanceSensor (self.robot, model_bag.cake_front)
+ self.cake_back = DistanceSensor (self.robot, model_bag.cake_back)
self.pos_report = PosReport (table, model_bag.pos_report)