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-rw-r--r--host/simu/robots/guybrush/model/clamps.py9
1 files changed, 8 insertions, 1 deletions
diff --git a/host/simu/robots/guybrush/model/clamps.py b/host/simu/robots/guybrush/model/clamps.py
index d723847a..22444f30 100644
--- a/host/simu/robots/guybrush/model/clamps.py
+++ b/host/simu/robots/guybrush/model/clamps.py
@@ -31,7 +31,7 @@ import random
class Clamps (Observable):
def __init__ (self, table, robot_position, lower_clamp_motor,
- lower_clamp_cylinders, lower_clamp_sensors,
+ lower_clamp_cylinders, lower_clamp_sensors, lower_clamp_zero,
upper_clamp_up_down_cylinder, upper_clamp_in_out_cylinder,
upper_clamp_open_cylinder, door_cylinder):
Observable.__init__ (self)
@@ -40,6 +40,7 @@ class Clamps (Observable):
self.lower_clamp_motor = lower_clamp_motor
self.lower_clamp_cylinders = lower_clamp_cylinders
self.lower_clamp_sensors = lower_clamp_sensors
+ self.lower_clamp_zero = lower_clamp_zero
self.lower_clamp_clamping = [ None, None ]
self.lower_clamp_content = [ [ ], [ ] ]
self.upper_clamp_up_down_cylinder = upper_clamp_up_down_cylinder
@@ -132,6 +133,12 @@ class Clamps (Observable):
for s in self.lower_clamp_sensors:
s.state = new_state
s.notify ()
+ old_state = self.lower_clamp_zero.state
+ new_state = (rot_mod >= pi * 1.45 and rot_mod < pi * 1.55
+ and self.lower_clamp_clamping[0])
+ if new_state != old_state:
+ self.lower_clamp_zero.state = new_state
+ self.lower_clamp_zero.notify ()
return changed
def __compute_upper_clamp (self):