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authorNicolas Schodet2012-05-13 21:11:33 +0200
committerNicolas Schodet2012-05-13 21:11:33 +0200
commita5be49c7eae38c2e1af9b801a3211870d62ffa69 (patch)
treecf209d9b7a76e7567195f983375a665ebedd2c97 /host/simu/robots
parent437f8817273f85eb19cd8e1cd98673abdf352556 (diff)
host/simu/robot/guybrush: add lower clamp angle offset to speed up simu
Diffstat (limited to 'host/simu/robots')
-rw-r--r--host/simu/robots/guybrush/model/clamps.py5
1 files changed, 4 insertions, 1 deletions
diff --git a/host/simu/robots/guybrush/model/clamps.py b/host/simu/robots/guybrush/model/clamps.py
index 35df7246..6a046d42 100644
--- a/host/simu/robots/guybrush/model/clamps.py
+++ b/host/simu/robots/guybrush/model/clamps.py
@@ -63,7 +63,10 @@ class Clamps (Observable):
self.notify ()
def __lower_clamp_notified (self):
- self.lower_clamp_rotation = self.lower_clamp_motor.angle
+ if self.lower_clamp_motor.angle is None:
+ self.lower_clamp_rotation = None
+ else:
+ self.lower_clamp_rotation = self.lower_clamp_motor.angle + pi
for i, c in enumerate (self.lower_clamp_cylinders):
if c.pos is None:
self.lower_clamp_clamping[i] = None