From 8fe27e112710a66b3928151563437eb3eb652d4a Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 17 Apr 2012 23:56:25 +0200 Subject: eurobot/2012: add switches --- digital/io-hub/src/guybrush/contact_defs.h | 14 +- eurobot/2012/io-hub-cabling.svg | 262 ++++++++++++++++++++++++++--- host/simu/robots/guybrush/link/bag.py | 2 +- 3 files changed, 251 insertions(+), 27 deletions(-) diff --git a/digital/io-hub/src/guybrush/contact_defs.h b/digital/io-hub/src/guybrush/contact_defs.h index 471c88e5..9d113214 100644 --- a/digital/io-hub/src/guybrush/contact_defs.h +++ b/digital/io-hub/src/guybrush/contact_defs.h @@ -32,12 +32,24 @@ #define CONTACT_LOWER_CLAMP_SENSOR_2 B, 6 #define CONTACT_LOWER_CLAMP_SENSOR_3 D, 6 #define CONTACT_LOWER_CLAMP_SENSOR_4 B, 7 +#define CONTACT_UPPER_CLAMP_DOWN E, 4 +#define CONTACT_UPPER_CLAMP_UP E, 5 +#define CONTACT_DOOR_OPEN E, 0 +#define CONTACT_DOOR_CLOSE E, 1 +#define CONTACT_GOLD_BAR E, 6 +#define CONTACT_TOTEM E, 7 #define CONTACT_LIST \ CONTACT (CONTACT_STRAT) \ CONTACT (CONTACT_LOWER_CLAMP_SENSOR_1) \ CONTACT (CONTACT_LOWER_CLAMP_SENSOR_2) \ CONTACT (CONTACT_LOWER_CLAMP_SENSOR_3) \ - CONTACT (CONTACT_LOWER_CLAMP_SENSOR_4) + CONTACT (CONTACT_LOWER_CLAMP_SENSOR_4) \ + CONTACT (CONTACT_UPPER_CLAMP_DOWN) \ + CONTACT (CONTACT_UPPER_CLAMP_UP) \ + CONTACT (CONTACT_DOOR_OPEN) \ + CONTACT (CONTACT_DOOR_CLOSE) \ + CONTACT (CONTACT_GOLD_BAR) \ + CONTACT (CONTACT_TOTEM) #endif /* contact_defs_h */ diff --git a/eurobot/2012/io-hub-cabling.svg b/eurobot/2012/io-hub-cabling.svg index 44beedf8..1e1f54b5 100644 --- a/eurobot/2012/io-hub-cabling.svg +++ b/eurobot/2012/io-hub-cabling.svg @@ -35,9 +35,9 @@ borderopacity="1.0" inkscape:pageopacity="0.0" inkscape:pageshadow="2" - inkscape:zoom="0.9285368" - inkscape:cx="448.33643" - inkscape:cy="436.1609" + inkscape:zoom="0.67057292" + inkscape:cx="512" + inkscape:cy="384" inkscape:document-units="px" inkscape:current-layer="layer1" showgrid="true" @@ -75,7 +75,7 @@ transform="translate(0,-284.36218)"> + transform="translate(0,-239.94202)"> + transform="translate(-279.57222,180.00006)"> @@ -367,7 +367,8 @@ sodipodi:nodetypes="ccc" /> + id="g3102" + transform="translate(-49.57222,0)"> @@ -543,74 +544,80 @@ x="320" id="tspan3965" sodipodi:role="line">jack + pressure switch (backup) 5V elec 24V indus DEV + transform="translate(0.42778,-6.3652344e-5)"> @@ -818,7 +825,8 @@ sodipodi:role="line">upper clamps up + id="g3136" + transform="translate(-49.57222,0)"> @@ -1018,7 +1026,211 @@ + + + + + 0 + spoke-basic + + 1 + + 2 + + 3 + + + + door open switch + + + upper clamps down switch + + + + + door close switch + upper clamps up switch + gold bar switch + totem switch + + diff --git a/host/simu/robots/guybrush/link/bag.py b/host/simu/robots/guybrush/link/bag.py index 4d7451cd..d706cf15 100644 --- a/host/simu/robots/guybrush/link/bag.py +++ b/host/simu/robots/guybrush/link/bag.py @@ -32,6 +32,6 @@ class Bag: self.asserv = asserv.mex.Mex (node, '%s:asserv0' % instance, aux_nb = 0) self.io_hub = io_hub.mex.Mex (node, '%s:io0' % instance, - contact_nb = 7, output_nb = 10) + contact_nb = 13, output_nb = 10) self.mimot = mimot.mex.Mex (node, '%s:mimot0' % instance) -- cgit v1.2.3