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-rw-r--r--host/simu/robots/guybrush/model/bag.py17
1 files changed, 12 insertions, 5 deletions
diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py
index 3b6cc857..8e7250b2 100644
--- a/host/simu/robots/guybrush/model/bag.py
+++ b/host/simu/robots/guybrush/model/bag.py
@@ -39,12 +39,19 @@ class Bag:
self.jack = Switch (link_bag.io_hub.contact[1], invert = True)
self.strat_switch = Switch (link_bag.io_hub.contact[2], invert = True)
self.position = Position (link_bag.asserv.position)
+ output = link_bag.io_hub.output
self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0],
- (PneumaticCylinder (None, link_bag.io_hub.output[8],
- scheduler, 0., 30., 150., 75., 30.),
- PneumaticCylinder (None, link_bag.io_hub.output[9],
- scheduler, 0., 30., 150., 75., 30.)),
- [ Switch (c) for c in link_bag.io_hub.contact[3:3+4] ])
+ (PneumaticCylinder (None, output[8], scheduler,
+ 0., 30., 150., 75., 30.),
+ PneumaticCylinder (None, output[9], scheduler,
+ 0., 30., 150., 75., 30.)),
+ [ Switch (c) for c in link_bag.io_hub.contact[3:3+4] ],
+ PneumaticCylinder (output[4], output[5], scheduler,
+ 0., 1., 1., 1., 1.),
+ PneumaticCylinder (output[3], output[2], scheduler,
+ 0., 1., 1., 1., 0.),
+ PneumaticCylinder (None, output[1], scheduler,
+ 0., 30., 150., 75., 30.))
self.distance_sensor = [
DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table,
(20, 20), pi * 10 / 180, (self.position, ), 2),