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-rw-r--r--host/simu/robots/aquajim/model/bag.py10
-rw-r--r--host/simu/robots/aquajim/view/robot.py7
2 files changed, 8 insertions, 9 deletions
diff --git a/host/simu/robots/aquajim/model/bag.py b/host/simu/robots/aquajim/model/bag.py
index 6cbc52ef..ace646b6 100644
--- a/host/simu/robots/aquajim/model/bag.py
+++ b/host/simu/robots/aquajim/model/bag.py
@@ -42,15 +42,15 @@ class Bag:
self.elevator_door)
self.distance_sensor = [
DistanceSensorSharps (link_bag.io.adc[0], scheduler, table,
- (150, 150), 0, (self.position, )),
+ (50, 130), 0, (self.position, )),
DistanceSensorSharps (link_bag.io.adc[1], scheduler, table,
- (150, 0), 0, (self.position, )),
+ (50, -130), 0, (self.position, )),
DistanceSensorSharps (link_bag.io.adc[2], scheduler, table,
- (150, -150), 0, (self.position, )),
+ (50, 0), 0, (self.position, )),
DistanceSensorSharps (link_bag.io.adc[3], scheduler, table,
- (-150, 100), pi, (self.position, )),
+ (0, 130), pi, (self.position, )),
DistanceSensorSharps (link_bag.io.adc[4], scheduler, table,
- (-150, -100), pi, (self.position, )),
+ (0, -130), pi, (self.position, )),
]
self.path = link_bag.io.path
diff --git a/host/simu/robots/aquajim/view/robot.py b/host/simu/robots/aquajim/view/robot.py
index 8974b179..713a30c4 100644
--- a/host/simu/robots/aquajim/view/robot.py
+++ b/host/simu/robots/aquajim/view/robot.py
@@ -46,15 +46,14 @@ class Robot (simu.inter.drawable.Drawable):
self.trans_rotate (self.angle)
self.trans_translate (self.pos)
# Draw robot body.
- # TODO
- self.draw_polygon ((150, 150), (150, -150), (-150, -150),
- (-150, 150), (150, 150))
+ self.draw_polygon ((150, 155), (-90, 155), (-150, 70),
+ (-150, -70), (-90, -155), (150, -155))
# Draw Robot axis.
axes_fill = '#404040'
self.draw_line ((-150, 0), (150, 0), fill = axes_fill,
arrow = 'last')
# Draw Robot wheels.
- f = 150 # Wheel spacing
+ f = 142 + 2 * 31.5 - 13.5 # Wheel spacing
wr = 63 / 2 # Wheel diameter
self.draw_line ((0, +f / 2), (0, -f / 2), fill = axes_fill)
self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = axes_fill)