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authorNicolas Schodet2012-03-30 00:08:05 +0200
committerNicolas Schodet2012-03-30 00:21:12 +0200
commitb2eeb382f494eea1c96656cc8a9e6719a6294d8f (patch)
tree1a452688693bb9e31d289a27062fc2c25099d8d9 /host/simu/robots/guybrush/model/bag.py
parentc052f0b3fb863a95b42e27f3c945a54135c042b7 (diff)
host/simu/robots/guybrush: add lower clamp
Diffstat (limited to 'host/simu/robots/guybrush/model/bag.py')
-rw-r--r--host/simu/robots/guybrush/model/bag.py7
1 files changed, 7 insertions, 0 deletions
diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py
index fda35ce0..6ff18194 100644
--- a/host/simu/robots/guybrush/model/bag.py
+++ b/host/simu/robots/guybrush/model/bag.py
@@ -25,6 +25,8 @@
from simu.model.switch import Switch
from simu.model.position import Position
from simu.model.distance_sensor_sensopart import DistanceSensorSensopart
+from simu.model.pneumatic_cylinder import PneumaticCylinder
+from simu.robots.guybrush.model.clamps import Clamps
from math import pi
import random
@@ -37,6 +39,11 @@ class Bag:
self.jack = Switch (link_bag.io_hub.contact[1], invert = True)
self.strat_switch = Switch (link_bag.io_hub.contact[2], invert = True)
self.position = Position (link_bag.asserv.position)
+ self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0],
+ (PneumaticCylinder (None, link_bag.io_hub.output[8],
+ scheduler, 0., 30., 150., 75., 30.),
+ PneumaticCylinder (None, link_bag.io_hub.output[9],
+ scheduler, 0., 30., 150., 75., 30.)))
self.distance_sensor = [
DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table,
(20, 20), pi * 10 / 180, (self.position, ), 2),