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-rw-r--r--host/simu/robots/guybrush/model/bag.py11
1 files changed, 6 insertions, 5 deletions
diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py
index c1e66290..f2ad12e7 100644
--- a/host/simu/robots/guybrush/model/bag.py
+++ b/host/simu/robots/guybrush/model/bag.py
@@ -49,11 +49,12 @@ class Bag:
self.color_switch.notify ()
self.jack = Switch (link_bag.io_hub.contact[1], invert = True)
self.strat_switch = Switch (link_bag.io_hub.contact[2], invert = True)
+ self.nb_robots_switch = Switch (link_bag.io_hub.contact[12], invert = True)
self.beacon = RoundObstacle (40, 5)
table.obstacles.append (self.beacon)
self.position = Position (link_bag.asserv.position, [ self.beacon ])
output = link_bag.io_hub.output
- contact = [ Switch (c) for c in link_bag.io_hub.contact[3:] ]
+ contact = [ Switch (c) for c in link_bag.io_hub.contact[3:12] ]
self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0],
(PneumaticCylinder (output[self.OUTPUT_LOWER_CLAMP_1_CLOSE],
None, scheduler, 0., 30., 150., 75., 30.),
@@ -74,13 +75,13 @@ class Bag:
)
self.distance_sensor = [
DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table,
- (120, 0), 0, (self.position, ), 4),
+ (150, 0), 0, (self.position, ), 4),
DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table,
- (120, 160), 0, (self.position, ), set ([3, 4])),
+ (50, 147), 0, (self.position, ), set ([3, 4])),
DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table,
- (120, -160), 0, (self.position, ), set ([3, 4])),
+ (50, -147), 0, (self.position, ), set ([3, 4])),
DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table,
- (-130, 0), pi, (self.position, ), 4),
+ (-120, 0), pi, (self.position, ), 4),
]
self.path = link_bag.io_hub.path
self.pos_report = link_bag.io_hub.pos_report