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authorNicolas Schodet2012-04-30 15:14:15 +0200
committerNicolas Schodet2012-04-30 16:01:03 +0200
commitcd5c148bc03f83aa3ec0f9678b210ca6cdb8e144 (patch)
treeae6e873614be4d32335bbfab2da89c17c1c5e38f
parentcf6d484cc87e9f26b7257e89a8433daf52b64955 (diff)
{digital/io-hub/src,host/simu/robots}/guybrush: invert lower clamp open/close
-rw-r--r--digital/ai/tools/test_simu_control_guybrush.py8
-rw-r--r--digital/io-hub/src/guybrush/output_defs.h8
-rw-r--r--host/simu/robots/guybrush/model/bag.py4
3 files changed, 10 insertions, 10 deletions
diff --git a/digital/ai/tools/test_simu_control_guybrush.py b/digital/ai/tools/test_simu_control_guybrush.py
index 9be6a7b0..a4ebf3a6 100644
--- a/digital/ai/tools/test_simu_control_guybrush.py
+++ b/digital/ai/tools/test_simu_control_guybrush.py
@@ -35,8 +35,8 @@ class TestSimuControl (TestSimu):
UPPER_CLAMP_UP = 1 << 5
DOOR_OPEN = 1 << 6
DOOR_CLOSE = 1 << 7
- LOWER_CLAMP_1_OPEN = 1 << 8
- LOWER_CLAMP_2_OPEN = 1 << 9
+ LOWER_CLAMP_1_CLOSE = 1 << 8
+ LOWER_CLAMP_2_CLOSE = 1 << 9
LOWER_CLAMP_ROTATION_STROKE = int (16 * 250)
def __init__ (self, robot_class, *args):
@@ -61,8 +61,8 @@ class TestSimuControl (TestSimu):
button = Button (self.control_frame, text = name,
padx = 0, pady = 0, command = command)
button.pack ()
- out_button ('LClamp 1 open', self.LOWER_CLAMP_1_OPEN)
- out_button ('LClamp 2 open', self.LOWER_CLAMP_2_OPEN)
+ out_button ('LClamp 1 open', self.LOWER_CLAMP_1_CLOSE)
+ out_button ('LClamp 2 open', self.LOWER_CLAMP_2_CLOSE)
self.lower_clamp_rotate_button = Button (self.control_frame,
text = 'LClamp rotate', padx = 0, pady = 0,
command = self.lower_clamp_rotate_command)
diff --git a/digital/io-hub/src/guybrush/output_defs.h b/digital/io-hub/src/guybrush/output_defs.h
index 4a481b8e..14268aaa 100644
--- a/digital/io-hub/src/guybrush/output_defs.h
+++ b/digital/io-hub/src/guybrush/output_defs.h
@@ -33,8 +33,8 @@
#define OUTPUT_UPPER_CLAMP_UP C, 4
#define OUTPUT_DOOR_OPEN C, 7
#define OUTPUT_DOOR_CLOSE C, 6
-#define OUTPUT_LOWER_CLAMP_1_OPEN D, 4
-#define OUTPUT_LOWER_CLAMP_2_OPEN B, 5
+#define OUTPUT_LOWER_CLAMP_1_CLOSE D, 4
+#define OUTPUT_LOWER_CLAMP_2_CLOSE B, 5
#define OUTPUT_LIST \
OUTPUT (OUTPUT_PNEUM_OPEN, 0) \
@@ -45,7 +45,7 @@
OUTPUT (OUTPUT_UPPER_CLAMP_UP, 0) \
OUTPUT (OUTPUT_DOOR_OPEN, 0) \
OUTPUT (OUTPUT_DOOR_CLOSE, 0) \
- OUTPUT (OUTPUT_LOWER_CLAMP_1_OPEN, 0) \
- OUTPUT (OUTPUT_LOWER_CLAMP_2_OPEN, 0) \
+ OUTPUT (OUTPUT_LOWER_CLAMP_1_CLOSE, 0) \
+ OUTPUT (OUTPUT_LOWER_CLAMP_2_CLOSE, 0) \
#endif /* output_defs_h */
diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py
index a26c0f19..00d653a0 100644
--- a/host/simu/robots/guybrush/model/bag.py
+++ b/host/simu/robots/guybrush/model/bag.py
@@ -45,9 +45,9 @@ class Bag:
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,
+ (PneumaticCylinder (output[8], None, scheduler,
0., 30., 150., 75., 30.),
- PneumaticCylinder (None, output[9], scheduler,
+ PneumaticCylinder (output[9], None, scheduler,
0., 30., 150., 75., 30.)),
contact[0:4],
PneumaticCylinder (output[4], output[5], scheduler,