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authorNicolas Schodet2013-03-28 23:28:13 +0100
committerNicolas Schodet2013-03-28 23:32:49 +0100
commit75cc934b072310f22c5fe349168e5e4cdc231c4c (patch)
tree4c195e983d9974458f92199e15647f01235f4856 /host/simu/robots/apbirthday/model/bag.py
parent09c941cd2d30d07ef2dfe779bff2c934ce7cd718 (diff)
host/simu/robots/apbirthday: add cake arm simulation
Still need color sensors simulation.
Diffstat (limited to 'host/simu/robots/apbirthday/model/bag.py')
-rw-r--r--host/simu/robots/apbirthday/model/bag.py15
1 files changed, 15 insertions, 0 deletions
diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py
index bef099f9..5488305e 100644
--- a/host/simu/robots/apbirthday/model/bag.py
+++ b/host/simu/robots/apbirthday/model/bag.py
@@ -26,6 +26,8 @@ from simu.model.switch import Switch
from simu.model.position import Position
from simu.model.round_obstacle import RoundObstacle
from simu.model.distance_sensor_sensopart import DistanceSensorSensopart
+from simu.model.pneumatic_cylinder import PneumaticCylinder
+from simu.robots.apbirthday.model.cake_arm import CakeArm
from math import pi
import random
@@ -49,4 +51,17 @@ class Bag:
DistanceSensorSensopart (link_bag.adc_dist[3], scheduler, table,
(-50, -120), pi, (self.position, ), 4),
]
+ self.cake_arm = CakeArm (table, self.position,
+ PneumaticCylinder (
+ link_bag.cake_arm_in,
+ link_bag.cake_arm_out,
+ scheduler, 0., 1., 1., 1., 1.),
+ PneumaticCylinder (
+ link_bag.cake_push_far_in,
+ link_bag.cake_push_far_out,
+ scheduler, 0., 1., 10., 10., 0.),
+ PneumaticCylinder (
+ link_bag.cake_push_near_in,
+ link_bag.cake_push_near_out,
+ scheduler, 0., 1., 10., 10., 0.))