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-rw-r--r--host/simu/robots/guybrush/model/bag.py31
1 files changed, 22 insertions, 9 deletions
diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py
index 00d653a0..f9c98814 100644
--- a/host/simu/robots/guybrush/model/bag.py
+++ b/host/simu/robots/guybrush/model/bag.py
@@ -33,6 +33,16 @@ import random
class Bag:
+ OUTPUT_UPPER_CLAMP_OPEN = 1
+ OUTPUT_UPPER_CLAMP_OUT = 2
+ OUTPUT_UPPER_CLAMP_IN = 3
+ OUTPUT_UPPER_CLAMP_DOWN = 4
+ OUTPUT_UPPER_CLAMP_UP = 5
+ OUTPUT_DOOR_OPEN = 6
+ OUTPUT_DOOR_CLOSE = 7
+ OUTPUT_LOWER_CLAMP_1_CLOSE = 8
+ OUTPUT_LOWER_CLAMP_2_CLOSE = 9
+
def __init__ (self, scheduler, table, link_bag):
self.color_switch = Switch (link_bag.io_hub.contact[0], invert = True)
self.color_switch.state = random.choice ((False, True))
@@ -45,18 +55,21 @@ class Bag:
output = link_bag.io_hub.output
contact = [ Switch (c) for c in link_bag.io_hub.contact[3:] ]
self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0],
- (PneumaticCylinder (output[8], None, scheduler,
- 0., 30., 150., 75., 30.),
- PneumaticCylinder (output[9], None, scheduler,
- 0., 30., 150., 75., 30.)),
+ (PneumaticCylinder (output[self.OUTPUT_LOWER_CLAMP_1_CLOSE],
+ None, scheduler, 0., 30., 150., 75., 30.),
+ PneumaticCylinder (output[self.OUTPUT_LOWER_CLAMP_2_CLOSE],
+ None, scheduler, 0., 30., 150., 75., 30.)),
contact[0:4],
- PneumaticCylinder (output[4], output[5], scheduler,
+ PneumaticCylinder (output[self.OUTPUT_UPPER_CLAMP_DOWN],
+ output[self.OUTPUT_UPPER_CLAMP_UP], scheduler,
0., 1., 1., 1., 1., contact[4], contact[5]),
- PneumaticCylinder (output[3], output[2], scheduler,
+ PneumaticCylinder (output[self.OUTPUT_UPPER_CLAMP_IN],
+ output[self.OUTPUT_UPPER_CLAMP_OUT], scheduler,
0., 1., 1., 1., 0.),
- PneumaticCylinder (None, output[1], scheduler,
- 0., 30., 150., 75., 30.),
- PneumaticCylinder (output[7], output[6], scheduler,
+ PneumaticCylinder (None, output[self.OUTPUT_UPPER_CLAMP_OPEN],
+ scheduler, 0., 30., 150., 75., 30.),
+ PneumaticCylinder (output[self.OUTPUT_DOOR_CLOSE],
+ output[self.OUTPUT_DOOR_OPEN], scheduler,
0., 1., 1., 1., 1., contact[7], contact[6])
)
def distance_sensor_exclude (o):