From 83f8db8c8b48938d695635e25ed563fea9afbfdd Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 16 May 2012 23:08:23 +0200 Subject: digital/io-hub/src/guybrush: update US sensor position to match hardware --- digital/io-hub/src/guybrush/radar_defs.c | 8 ++++---- host/simu/robots/guybrush/model/bag.py | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/digital/io-hub/src/guybrush/radar_defs.c b/digital/io-hub/src/guybrush/radar_defs.c index d344f958..a1228526 100644 --- a/digital/io-hub/src/guybrush/radar_defs.c +++ b/digital/io-hub/src/guybrush/radar_defs.c @@ -31,13 +31,13 @@ /** Define radar configuration. */ struct radar_sensor_t radar_sensors[RADAR_SENSOR_NB] = { #define RADAR_SENSOR_FRONT 0 - { &usdist_mm[0], { 120, 0 }, G_ANGLE_UF016_DEG (0) }, + { &usdist_mm[0], { 150, 0 }, G_ANGLE_UF016_DEG (0) }, #define RADAR_SENSOR_LEFT 1 - { &usdist_mm[1], { 120, 160 }, G_ANGLE_UF016_DEG (0) }, + { &usdist_mm[1], { 50, 147 }, G_ANGLE_UF016_DEG (0) }, #define RADAR_SENSOR_RIGHT 2 - { &usdist_mm[2], { 120, -160 }, G_ANGLE_UF016_DEG (0) }, + { &usdist_mm[2], { 50, -147 }, G_ANGLE_UF016_DEG (0) }, #define RADAR_SENSOR_BACK 3 - { &usdist_mm[3], { -130, 0 }, G_ANGLE_UF016_DEG (180) }, + { &usdist_mm[3], { -120, 0 }, G_ANGLE_UF016_DEG (180) }, }; /** Define exclusion area (considered as invalid point). */ diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py index 91bfedfa..f2ad12e7 100644 --- a/host/simu/robots/guybrush/model/bag.py +++ b/host/simu/robots/guybrush/model/bag.py @@ -75,13 +75,13 @@ class Bag: ) self.distance_sensor = [ DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table, - (120, 0), 0, (self.position, ), 4), + (150, 0), 0, (self.position, ), 4), DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table, - (120, 160), 0, (self.position, ), set ([3, 4])), + (50, 147), 0, (self.position, ), set ([3, 4])), DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table, - (120, -160), 0, (self.position, ), set ([3, 4])), + (50, -147), 0, (self.position, ), set ([3, 4])), DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table, - (-130, 0), pi, (self.position, ), 4), + (-120, 0), pi, (self.position, ), 4), ] self.path = link_bag.io_hub.path self.pos_report = link_bag.io_hub.pos_report -- cgit v1.2.3