From 75cc934b072310f22c5fe349168e5e4cdc231c4c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 28 Mar 2013 23:28:13 +0100 Subject: host/simu/robots/apbirthday: add cake arm simulation Still need color sensors simulation. --- host/simu/robots/apbirthday/model/bag.py | 15 +++++++++++++++ 1 file changed, 15 insertions(+) (limited to 'host/simu/robots/apbirthday/model/bag.py') diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py index bef099f9..5488305e 100644 --- a/host/simu/robots/apbirthday/model/bag.py +++ b/host/simu/robots/apbirthday/model/bag.py @@ -26,6 +26,8 @@ from simu.model.switch import Switch from simu.model.position import Position from simu.model.round_obstacle import RoundObstacle from simu.model.distance_sensor_sensopart import DistanceSensorSensopart +from simu.model.pneumatic_cylinder import PneumaticCylinder +from simu.robots.apbirthday.model.cake_arm import CakeArm from math import pi import random @@ -49,4 +51,17 @@ class Bag: DistanceSensorSensopart (link_bag.adc_dist[3], scheduler, table, (-50, -120), pi, (self.position, ), 4), ] + self.cake_arm = CakeArm (table, self.position, + PneumaticCylinder ( + link_bag.cake_arm_in, + link_bag.cake_arm_out, + scheduler, 0., 1., 1., 1., 1.), + PneumaticCylinder ( + link_bag.cake_push_far_in, + link_bag.cake_push_far_out, + scheduler, 0., 1., 10., 10., 0.), + PneumaticCylinder ( + link_bag.cake_push_near_in, + link_bag.cake_push_near_out, + scheduler, 0., 1., 10., 10., 0.)) -- cgit v1.2.3