From b5d86b93b697cd1abf719a67e494cfa80e788b66 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 18 Apr 2012 00:05:33 +0200 Subject: host/simu/robots/guybrush: add upper clamps limit switch simulation --- host/simu/robots/guybrush/model/bag.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (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 2e751426..e70e5d77 100644 --- a/host/simu/robots/guybrush/model/bag.py +++ b/host/simu/robots/guybrush/model/bag.py @@ -43,14 +43,15 @@ class Bag: table.obstacles.append (self.beacon) self.position = Position (link_bag.asserv.position, [ self.beacon ]) output = link_bag.io_hub.output + contact = [ Switch (c) for c in link_bag.io_hub.contact[3:] ] self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0], (PneumaticCylinder (None, output[8], scheduler, 0., 30., 150., 75., 30.), PneumaticCylinder (None, output[9], scheduler, 0., 30., 150., 75., 30.)), - [ Switch (c) for c in link_bag.io_hub.contact[3:3+4] ], + contact[0:4], PneumaticCylinder (output[4], output[5], scheduler, - 0., 1., 1., 1., 1.), + 0., 1., 1., 1., 1., contact[5], contact[6]), PneumaticCylinder (output[3], output[2], scheduler, 0., 1., 1., 1., 0.), PneumaticCylinder (None, output[1], scheduler, -- cgit v1.2.3