From cd5c148bc03f83aa3ec0f9678b210ca6cdb8e144 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 30 Apr 2012 15:14:15 +0200 Subject: {digital/io-hub/src,host/simu/robots}/guybrush: invert lower clamp open/close --- digital/ai/tools/test_simu_control_guybrush.py | 8 ++++---- digital/io-hub/src/guybrush/output_defs.h | 8 ++++---- host/simu/robots/guybrush/model/bag.py | 4 ++-- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/digital/ai/tools/test_simu_control_guybrush.py b/digital/ai/tools/test_simu_control_guybrush.py index 9be6a7b0..a4ebf3a6 100644 --- a/digital/ai/tools/test_simu_control_guybrush.py +++ b/digital/ai/tools/test_simu_control_guybrush.py @@ -35,8 +35,8 @@ class TestSimuControl (TestSimu): UPPER_CLAMP_UP = 1 << 5 DOOR_OPEN = 1 << 6 DOOR_CLOSE = 1 << 7 - LOWER_CLAMP_1_OPEN = 1 << 8 - LOWER_CLAMP_2_OPEN = 1 << 9 + LOWER_CLAMP_1_CLOSE = 1 << 8 + LOWER_CLAMP_2_CLOSE = 1 << 9 LOWER_CLAMP_ROTATION_STROKE = int (16 * 250) def __init__ (self, robot_class, *args): @@ -61,8 +61,8 @@ class TestSimuControl (TestSimu): button = Button (self.control_frame, text = name, padx = 0, pady = 0, command = command) button.pack () - out_button ('LClamp 1 open', self.LOWER_CLAMP_1_OPEN) - out_button ('LClamp 2 open', self.LOWER_CLAMP_2_OPEN) + out_button ('LClamp 1 open', self.LOWER_CLAMP_1_CLOSE) + out_button ('LClamp 2 open', self.LOWER_CLAMP_2_CLOSE) self.lower_clamp_rotate_button = Button (self.control_frame, text = 'LClamp rotate', padx = 0, pady = 0, command = self.lower_clamp_rotate_command) diff --git a/digital/io-hub/src/guybrush/output_defs.h b/digital/io-hub/src/guybrush/output_defs.h index 4a481b8e..14268aaa 100644 --- a/digital/io-hub/src/guybrush/output_defs.h +++ b/digital/io-hub/src/guybrush/output_defs.h @@ -33,8 +33,8 @@ #define OUTPUT_UPPER_CLAMP_UP C, 4 #define OUTPUT_DOOR_OPEN C, 7 #define OUTPUT_DOOR_CLOSE C, 6 -#define OUTPUT_LOWER_CLAMP_1_OPEN D, 4 -#define OUTPUT_LOWER_CLAMP_2_OPEN B, 5 +#define OUTPUT_LOWER_CLAMP_1_CLOSE D, 4 +#define OUTPUT_LOWER_CLAMP_2_CLOSE B, 5 #define OUTPUT_LIST \ OUTPUT (OUTPUT_PNEUM_OPEN, 0) \ @@ -45,7 +45,7 @@ OUTPUT (OUTPUT_UPPER_CLAMP_UP, 0) \ OUTPUT (OUTPUT_DOOR_OPEN, 0) \ OUTPUT (OUTPUT_DOOR_CLOSE, 0) \ - OUTPUT (OUTPUT_LOWER_CLAMP_1_OPEN, 0) \ - OUTPUT (OUTPUT_LOWER_CLAMP_2_OPEN, 0) \ + OUTPUT (OUTPUT_LOWER_CLAMP_1_CLOSE, 0) \ + OUTPUT (OUTPUT_LOWER_CLAMP_2_CLOSE, 0) \ #endif /* output_defs_h */ diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py index a26c0f19..00d653a0 100644 --- a/host/simu/robots/guybrush/model/bag.py +++ b/host/simu/robots/guybrush/model/bag.py @@ -45,9 +45,9 @@ class Bag: output = link_bag.io_hub.output contact = [ Switch (c) for c in link_bag.io_hub.contact[3:] ] self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0], - (PneumaticCylinder (None, output[8], scheduler, + (PneumaticCylinder (output[8], None, scheduler, 0., 30., 150., 75., 30.), - PneumaticCylinder (None, output[9], scheduler, + PneumaticCylinder (output[9], None, scheduler, 0., 30., 150., 75., 30.)), contact[0:4], PneumaticCylinder (output[4], output[5], scheduler, -- cgit v1.2.3