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-rw-r--r--host/simu/robots/apbirthday/model/bag.py12
1 files changed, 12 insertions, 0 deletions
diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py
index aa79f9d4..bef099f9 100644
--- a/host/simu/robots/apbirthday/model/bag.py
+++ b/host/simu/robots/apbirthday/model/bag.py
@@ -25,6 +25,8 @@
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 math import pi
import random
class Bag:
@@ -37,4 +39,14 @@ class Bag:
self.beacon = RoundObstacle (40, 5)
table.obstacles.append (self.beacon)
self.position = Position (link_bag.asserv.position, [ self.beacon ])
+ self.distance_sensor = [
+ DistanceSensorSensopart (link_bag.adc_dist[0], scheduler, table,
+ (100, 120), 0, (self.position, ), 4),
+ DistanceSensorSensopart (link_bag.adc_dist[1], scheduler, table,
+ (100, -120), 0, (self.position, ), 4),
+ DistanceSensorSensopart (link_bag.adc_dist[2], scheduler, table,
+ (-50, 120), pi, (self.position, ), 4),
+ DistanceSensorSensopart (link_bag.adc_dist[3], scheduler, table,
+ (-50, -120), pi, (self.position, ), 4),
+ ]