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authorNicolas Schodet2012-05-13 20:57:32 +0200
committerNicolas Schodet2012-05-13 20:57:32 +0200
commit0a3d4dfead4ed4d2eaf02d40a61e335127b60a0d (patch)
treebf23549fbe74f976b7670b22d2886cd3075ac856 /host
parentcbd7e8f608d74171438dba8271613117b96bd11c (diff)
host/simu/robots/guybrush: change lower clamp sensors to match real robot
Diffstat (limited to 'host')
-rw-r--r--host/simu/robots/guybrush/link/bag.py2
-rw-r--r--host/simu/robots/guybrush/model/bag.py6
-rw-r--r--host/simu/robots/guybrush/model/clamps.py2
3 files changed, 5 insertions, 5 deletions
diff --git a/host/simu/robots/guybrush/link/bag.py b/host/simu/robots/guybrush/link/bag.py
index 234450e4..f47317bd 100644
--- a/host/simu/robots/guybrush/link/bag.py
+++ b/host/simu/robots/guybrush/link/bag.py
@@ -33,7 +33,7 @@ class Bag:
self.asserv = asserv.mex.Mex (node, '%s:asserv0' % instance,
aux_nb = 0)
self.io_hub = io_hub.mex.Mex (node, '%s:io0' % instance,
- contact_nb = 14, output_nb = 10)
+ contact_nb = 12, output_nb = 10)
self.mimot = mimot.mex.Mex (node, '%s:mimot0' % instance)
self.beacon = beacon.mex.Mex (node, '%s:beacon0' % instance)
diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py
index caeba351..c1e66290 100644
--- a/host/simu/robots/guybrush/model/bag.py
+++ b/host/simu/robots/guybrush/model/bag.py
@@ -59,10 +59,10 @@ class Bag:
None, scheduler, 0., 30., 150., 75., 30.),
PneumaticCylinder (output[self.OUTPUT_LOWER_CLAMP_2_CLOSE],
None, scheduler, 0., 30., 150., 75., 30.)),
- contact[0:4], contact[10],
+ contact[0:2], contact[8],
PneumaticCylinder (output[self.OUTPUT_UPPER_CLAMP_DOWN],
output[self.OUTPUT_UPPER_CLAMP_UP], scheduler,
- 0., 1., 1., 1., 1., contact[4], contact[5]),
+ 0., 1., 1., 1., 1., contact[2], contact[3]),
PneumaticCylinder (output[self.OUTPUT_UPPER_CLAMP_IN],
output[self.OUTPUT_UPPER_CLAMP_OUT], scheduler,
0., 1., 1., 1., 0.),
@@ -70,7 +70,7 @@ class Bag:
scheduler, 0., 30., 150., 75., 30.),
PneumaticCylinder (output[self.OUTPUT_DOOR_CLOSE],
output[self.OUTPUT_DOOR_OPEN], scheduler,
- 0., 1., 1., 1., 1., contact[7], contact[6])
+ 0., 1., 1., 1., 1., contact[5], contact[4])
)
self.distance_sensor = [
DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table,
diff --git a/host/simu/robots/guybrush/model/clamps.py b/host/simu/robots/guybrush/model/clamps.py
index 22444f30..40ec41a7 100644
--- a/host/simu/robots/guybrush/model/clamps.py
+++ b/host/simu/robots/guybrush/model/clamps.py
@@ -128,7 +128,7 @@ class Clamps (Observable):
if floor_clamp is None:
new_state = True
else:
- new_state = not self.lower_clamp_content[floor_clamp]
+ new_state = bool (self.lower_clamp_content[floor_clamp])
if new_state != old_state:
for s in self.lower_clamp_sensors:
s.state = new_state