From 5039808c1c648f3aedf81e9e5fc2762d38c4d171 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 30 Apr 2009 23:59:34 +0200 Subject: * digital/io/tools, host/simu: - added distance sensors and obstacles. --- host/simu/robots/giboulee/model/bag.py | 16 +++++++++++++++- host/simu/robots/giboulee/view/bag.py | 3 +++ 2 files changed, 18 insertions(+), 1 deletion(-) (limited to 'host/simu/robots/giboulee') diff --git a/host/simu/robots/giboulee/model/bag.py b/host/simu/robots/giboulee/model/bag.py index fadccabe..03f85d4e 100644 --- a/host/simu/robots/giboulee/model/bag.py +++ b/host/simu/robots/giboulee/model/bag.py @@ -24,15 +24,29 @@ """Giboulee bag of models.""" from simu.model.switch import Switch from simu.model.position import Position +from simu.model.distance_sensor_sharps import DistanceSensorSharps from simu.robots.giboulee.model.arm import Arm from simu.robots.giboulee.model.sorter import Sorter +from math import pi class Bag: - def __init__ (self, link_bag): + def __init__ (self, scheduler, table, link_bag): self.jack = Switch (link_bag.io.jack) self.color_switch = Switch (link_bag.io.color_switch) self.position = Position (link_bag.asserv.position) self.arm = Arm (link_bag.asserv.aux[0]) self.sorter = Sorter (link_bag.io.servo[0:5], link_bag.io.servo[5]) + self.distance_sensor = [ + DistanceSensorSharps (link_bag.io.adc[0], scheduler, table, + (150, 127), 0, (self.position, )), + DistanceSensorSharps (link_bag.io.adc[1], scheduler, table, + (150, 0), 0, (self.position, )), + DistanceSensorSharps (link_bag.io.adc[2], scheduler, table, + (150, -127), 0, (self.position, )), + DistanceSensorSharps (link_bag.io.adc[3], scheduler, table, + (-70, 100), pi, (self.position, )), + DistanceSensorSharps (link_bag.io.adc[4], scheduler, table, + (-70, -100), pi, (self.position, )), + ] diff --git a/host/simu/robots/giboulee/view/bag.py b/host/simu/robots/giboulee/view/bag.py index 709d775f..bb48a6a5 100644 --- a/host/simu/robots/giboulee/view/bag.py +++ b/host/simu/robots/giboulee/view/bag.py @@ -23,6 +23,7 @@ # }}} """Giboulee bag of views.""" from simu.view.switch import Switch +from simu.view.distance_sensor import DistanceSensor from simu.robots.giboulee.view.robot import Robot from simu.robots.giboulee.view.arm import Arm from simu.robots.giboulee.view.sorter import Sorter @@ -38,4 +39,6 @@ class Bag: model_bag.arm) self.sorter = Sorter (actuator_view.add_view (Sorter.width, Sorter.height), model_bag.sorter) + self.distance_sensor = [DistanceSensor (self.robot, ds) + for ds in model_bag.distance_sensor] -- cgit v1.2.3