From e1461c339607f82433bd60910ac4dfe5ff051219 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 7 Apr 2013 01:50:01 +0200 Subject: host/simu: add cake sensor simulation --- host/simu/robots/apbirthday/model/bag.py | 5 +++++ 1 file changed, 5 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 ce2c8667..2c026740 100644 --- a/host/simu/robots/apbirthday/model/bag.py +++ b/host/simu/robots/apbirthday/model/bag.py @@ -25,6 +25,7 @@ from simu.model.switch import Switch from simu.model.position import Position from simu.model.round_obstacle import RoundObstacle +from simu.model.distance_sensor_trig import DistanceSensorTrig from simu.model.distance_sensor_sensopart import DistanceSensorSensopart from simu.model.pneumatic_cylinder import PneumaticCylinder from simu.robots.apbirthday.model.cake_arm import CakeArm @@ -51,6 +52,10 @@ class Bag: DistanceSensorSensopart (link_bag.adc_dist[3], scheduler, table, (-83, -120), pi, (self.position, ), 4), ] + self.cake_front = DistanceSensorTrig (link_bag.adc_cake_front, + scheduler, table, (80, 136), pi / 2, (self.position, ), 0) + self.cake_back = DistanceSensorTrig (link_bag.adc_cake_back, + scheduler, table, (-66, 139), pi / 2, (self.position, ), 0) self.cake_arm = CakeArm (table, self.position, PneumaticCylinder ( link_bag.cake_arm_in, -- cgit v1.2.3