From 52d4a4917e49e3864cb50cb37cfd86537e42a287 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 26 Mar 2013 21:00:36 +0100 Subject: digital/io-hub/src/apbirthday: add US sensors ADC --- host/simu/robots/apbirthday/model/bag.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) (limited to 'host/simu/robots/apbirthday/model') diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py index aa79f9d4..bef099f9 100644 --- a/host/simu/robots/apbirthday/model/bag.py +++ b/host/simu/robots/apbirthday/model/bag.py @@ -25,6 +25,8 @@ 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 math import pi import random class Bag: @@ -37,4 +39,14 @@ class Bag: self.beacon = RoundObstacle (40, 5) table.obstacles.append (self.beacon) self.position = Position (link_bag.asserv.position, [ self.beacon ]) + self.distance_sensor = [ + DistanceSensorSensopart (link_bag.adc_dist[0], scheduler, table, + (100, 120), 0, (self.position, ), 4), + DistanceSensorSensopart (link_bag.adc_dist[1], scheduler, table, + (100, -120), 0, (self.position, ), 4), + DistanceSensorSensopart (link_bag.adc_dist[2], scheduler, table, + (-50, 120), pi, (self.position, ), 4), + DistanceSensorSensopart (link_bag.adc_dist[3], scheduler, table, + (-50, -120), pi, (self.position, ), 4), + ] -- cgit v1.2.3