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authorNicolas Schodet2013-03-26 21:00:36 +0100
committerNicolas Schodet2013-03-26 22:22:20 +0100
commit52d4a4917e49e3864cb50cb37cfd86537e42a287 (patch)
tree8bca37e49f76dc18eb546853704e05a969dbf000 /host/simu/robots/apbirthday/link/bag.py
parentfd2970444d83ac38e0d6af53a6b4dada4226250e (diff)
digital/io-hub/src/apbirthday: add US sensors ADC
Diffstat (limited to 'host/simu/robots/apbirthday/link/bag.py')
-rw-r--r--host/simu/robots/apbirthday/link/bag.py10
1 files changed, 9 insertions, 1 deletions
diff --git a/host/simu/robots/apbirthday/link/bag.py b/host/simu/robots/apbirthday/link/bag.py
index bc81b694..f2401a21 100644
--- a/host/simu/robots/apbirthday/link/bag.py
+++ b/host/simu/robots/apbirthday/link/bag.py
@@ -25,13 +25,15 @@
import io_hub.mex
import asserv.mex
from simu.link.mex_gpio import MexGpio
+from simu.link.mex_adc_channel import MexAdcChannel
class Bag:
def __init__ (self, node, instance = 'robot0'):
self.asserv = asserv.mex.Mex (node, '%s:asserv0' % instance,
aux_nb = 0)
- self.io_hub = io_hub.mex.Mex (node, '%s:io0' % instance, gpios = True)
+ self.io_hub = io_hub.mex.Mex (node, '%s:io0' % instance, gpios = True,
+ adc_channels = True)
gpios = ('raw_jack', 'ihm_color', 'ihm_strat', 'ihm_robot_nb',
'ihm_lol', 'ihm_emerg_stop', 'glass_contact',
'cherry_plate_left_contact', 'cherry_plate_right_contact',
@@ -45,3 +47,9 @@ class Bag:
'gift_in', 'ballon_funny_action', 'pneum_open')
for gpio in gpios:
setattr (self, gpio, MexGpio (self.io_hub.gpios, gpio))
+ self.adc_dist = [
+ MexAdcChannel (self.io_hub.adc_channels, 'dist0'),
+ MexAdcChannel (self.io_hub.adc_channels, 'dist1'),
+ MexAdcChannel (self.io_hub.adc_channels, 'dist2'),
+ MexAdcChannel (self.io_hub.adc_channels, 'dist3'),
+ ]