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-rw-r--r--host/simu/robots/giboulee/model/bag.py16
-rw-r--r--host/simu/robots/giboulee/view/bag.py3
2 files changed, 18 insertions, 1 deletions
diff --git a/host/simu/robots/giboulee/model/bag.py b/host/simu/robots/giboulee/model/bag.py
index fadccabe..03f85d4e 100644
--- a/host/simu/robots/giboulee/model/bag.py
+++ b/host/simu/robots/giboulee/model/bag.py
@@ -24,15 +24,29 @@
"""Giboulee bag of models."""
from simu.model.switch import Switch
from simu.model.position import Position
+from simu.model.distance_sensor_sharps import DistanceSensorSharps
from simu.robots.giboulee.model.arm import Arm
from simu.robots.giboulee.model.sorter import Sorter
+from math import pi
class Bag:
- def __init__ (self, link_bag):
+ def __init__ (self, scheduler, table, link_bag):
self.jack = Switch (link_bag.io.jack)
self.color_switch = Switch (link_bag.io.color_switch)
self.position = Position (link_bag.asserv.position)
self.arm = Arm (link_bag.asserv.aux[0])
self.sorter = Sorter (link_bag.io.servo[0:5], link_bag.io.servo[5])
+ self.distance_sensor = [
+ DistanceSensorSharps (link_bag.io.adc[0], scheduler, table,
+ (150, 127), 0, (self.position, )),
+ DistanceSensorSharps (link_bag.io.adc[1], scheduler, table,
+ (150, 0), 0, (self.position, )),
+ DistanceSensorSharps (link_bag.io.adc[2], scheduler, table,
+ (150, -127), 0, (self.position, )),
+ DistanceSensorSharps (link_bag.io.adc[3], scheduler, table,
+ (-70, 100), pi, (self.position, )),
+ DistanceSensorSharps (link_bag.io.adc[4], scheduler, table,
+ (-70, -100), pi, (self.position, )),
+ ]
diff --git a/host/simu/robots/giboulee/view/bag.py b/host/simu/robots/giboulee/view/bag.py
index 709d775f..bb48a6a5 100644
--- a/host/simu/robots/giboulee/view/bag.py
+++ b/host/simu/robots/giboulee/view/bag.py
@@ -23,6 +23,7 @@
# }}}
"""Giboulee bag of views."""
from simu.view.switch import Switch
+from simu.view.distance_sensor import DistanceSensor
from simu.robots.giboulee.view.robot import Robot
from simu.robots.giboulee.view.arm import Arm
from simu.robots.giboulee.view.sorter import Sorter
@@ -38,4 +39,6 @@ class Bag:
model_bag.arm)
self.sorter = Sorter (actuator_view.add_view (Sorter.width,
Sorter.height), model_bag.sorter)
+ self.distance_sensor = [DistanceSensor (self.robot, ds)
+ for ds in model_bag.distance_sensor]