From 7bee1130c8d2eb1fc122bbf7867d15e413292ec2 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 8 May 2012 01:11:29 +0200 Subject: digital/io-hub/src/guybrush, host/simu/robots/guybrush: add lower clamp zero --- digital/io-hub/src/guybrush/contact_defs.h | 4 +++- eurobot/2012/io-hub-cabling.svg | 10 ++++++++++ host/simu/robots/guybrush/link/bag.py | 2 +- host/simu/robots/guybrush/model/bag.py | 2 +- host/simu/robots/guybrush/model/clamps.py | 9 ++++++++- 5 files changed, 23 insertions(+), 4 deletions(-) diff --git a/digital/io-hub/src/guybrush/contact_defs.h b/digital/io-hub/src/guybrush/contact_defs.h index 2b1385f3..80f1bd32 100644 --- a/digital/io-hub/src/guybrush/contact_defs.h +++ b/digital/io-hub/src/guybrush/contact_defs.h @@ -38,6 +38,7 @@ #define CONTACT_DOOR_CLOSE E, 1 #define CONTACT_GOLD_BAR E, 6 #define CONTACT_TOTEM E, 7 +#define CONTACT_LOWER_CLAMP_ZERO D, 7 #define CONTACT_LIST \ CONTACT (CONTACT_STRAT, 1) \ @@ -50,6 +51,7 @@ CONTACT (CONTACT_DOOR_OPEN, 1) \ CONTACT (CONTACT_DOOR_CLOSE, 1) \ CONTACT (CONTACT_GOLD_BAR, 1) \ - CONTACT (CONTACT_TOTEM, 1) + CONTACT (CONTACT_TOTEM, 1) \ + CONTACT (CONTACT_LOWER_CLAMP_ZERO, 0) #endif /* contact_defs_h */ diff --git a/eurobot/2012/io-hub-cabling.svg b/eurobot/2012/io-hub-cabling.svg index 7a2a9dbc..730d76af 100644 --- a/eurobot/2012/io-hub-cabling.svg +++ b/eurobot/2012/io-hub-cabling.svg @@ -1009,6 +1009,16 @@ id="tspan3024" x="650" y="802.36218">lower clamp sensor 2 + lower clamp zero = 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): -- cgit v1.2.3