From b2eeb382f494eea1c96656cc8a9e6719a6294d8f Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 30 Mar 2012 00:08:05 +0200 Subject: host/simu/robots/guybrush: add lower clamp --- host/simu/robots/guybrush/model/bag.py | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'host/simu/robots/guybrush/model/bag.py') diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py index fda35ce0..6ff18194 100644 --- a/host/simu/robots/guybrush/model/bag.py +++ b/host/simu/robots/guybrush/model/bag.py @@ -25,6 +25,8 @@ from simu.model.switch import Switch from simu.model.position import Position from simu.model.distance_sensor_sensopart import DistanceSensorSensopart +from simu.model.pneumatic_cylinder import PneumaticCylinder +from simu.robots.guybrush.model.clamps import Clamps from math import pi import random @@ -37,6 +39,11 @@ class Bag: self.jack = Switch (link_bag.io_hub.contact[1], invert = True) self.strat_switch = Switch (link_bag.io_hub.contact[2], invert = True) self.position = Position (link_bag.asserv.position) + self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0], + (PneumaticCylinder (None, link_bag.io_hub.output[8], + scheduler, 0., 30., 150., 75., 30.), + PneumaticCylinder (None, link_bag.io_hub.output[9], + scheduler, 0., 30., 150., 75., 30.))) self.distance_sensor = [ DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table, (20, 20), pi * 10 / 180, (self.position, ), 2), -- cgit v1.2.3