From ba68e4ff28fc6e0881d3806960d6ad51a574e086 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 6 May 2013 00:36:26 +0200 Subject: digital/io-hub/src/apbirthday: rework gifts handling --- host/simu/robots/apbirthday/model/gifts_arm.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) (limited to 'host') diff --git a/host/simu/robots/apbirthday/model/gifts_arm.py b/host/simu/robots/apbirthday/model/gifts_arm.py index 5bbcd817..0f43bc6a 100644 --- a/host/simu/robots/apbirthday/model/gifts_arm.py +++ b/host/simu/robots/apbirthday/model/gifts_arm.py @@ -24,6 +24,7 @@ """APBirthday gifts arm model.""" from utils.observable import Observable from simu.utils.vector import vector +from math import pi class GiftsArm (Observable): @@ -37,7 +38,8 @@ class GiftsArm (Observable): def __arm_notified (self): if self.arm_cyl.pos > .9: push_point = (vector (self.robot_position.pos) - + vector.polar (self.robot_position.angle - 90, 140 + 70)) + + vector.polar (self.robot_position.angle - pi / 2, 140 + 100) + - vector.polar (self.robot_position.angle, 100)) gift = self.table.nearest (push_point, level = 0, max = 150) if gift is not None and hasattr (gift, 'state'): gift.state = True -- cgit v1.2.3