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-rw-r--r--host/simu/robots/marcel/model/bag.py19
1 files changed, 14 insertions, 5 deletions
diff --git a/host/simu/robots/marcel/model/bag.py b/host/simu/robots/marcel/model/bag.py
index 0f51b2ba..67cc0359 100644
--- a/host/simu/robots/marcel/model/bag.py
+++ b/host/simu/robots/marcel/model/bag.py
@@ -25,6 +25,7 @@
from simu.model.switch import Switch
from simu.model.position import Position
from simu.robots.marcel.model.loader import Loader
+from simu.model.round_obstacle import RoundObstacle
from simu.model.distance_sensor_sensopart import DistanceSensorSensopart
from math import pi
@@ -34,19 +35,27 @@ class Bag:
self.jack = Switch (link_bag.io.jack)
self.color_switch = Switch (link_bag.io.color_switch)
self.contact = [ Switch (contact) for contact in link_bag.io.contact ]
- self.position = Position (link_bag.asserv.position)
+ self.beacon = RoundObstacle (40, 5)
+ table.obstacles.append (self.beacon)
+ self.position = Position (link_bag.asserv.position, [ self.beacon ])
self.loader = Loader (table, self.position, link_bag.mimot.aux[0],
link_bag.mimot.aux[1], link_bag.asserv.aux[0],
link_bag.asserv.aux[1], link_bag.io.contact[0:2])
+ def distance_sensor_exclude (o):
+ return o is self.beacon
self.distance_sensor = [
DistanceSensorSensopart (link_bag.io.adc[0], scheduler, table,
- (30 - 20, 0), 0, (self.position, ), 5),
+ (30 - 20, 0), 0, (self.position, ), 5,
+ distance_sensor_exclude),
DistanceSensorSensopart (link_bag.io.adc[1], scheduler, table,
- (20 - 20, 20), pi * 30 / 180, (self.position, ), 5),
+ (20 - 20, 20), pi * 30 / 180, (self.position, ), 5,
+ distance_sensor_exclude),
DistanceSensorSensopart (link_bag.io.adc[2], scheduler, table,
- (20 - 20, -20), -pi * 30 / 180, (self.position, ), 5),
+ (20 - 20, -20), -pi * 30 / 180, (self.position, ), 5,
+ distance_sensor_exclude),
DistanceSensorSensopart (link_bag.io.adc[3], scheduler, table,
- (-30 - 20, 0), pi, (self.position, ), 5),
+ (-30 - 20, 0), pi, (self.position, ), 5,
+ distance_sensor_exclude),
]
link_bag.io.adc[4].value = 0
link_bag.io.adc[5].value = 0