summaryrefslogtreecommitdiff
path: root/host
diff options
context:
space:
mode:
Diffstat (limited to 'host')
-rw-r--r--host/simu/robots/guybrush/link/bag.py2
-rw-r--r--host/simu/robots/guybrush/model/bag.py3
-rw-r--r--host/simu/robots/guybrush/view/bag.py2
3 files changed, 5 insertions, 2 deletions
diff --git a/host/simu/robots/guybrush/link/bag.py b/host/simu/robots/guybrush/link/bag.py
index f47317bd..0603e2d9 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 = 12, output_nb = 10)
+ contact_nb = 13, 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 c1e66290..91bfedfa 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.),
diff --git a/host/simu/robots/guybrush/view/bag.py b/host/simu/robots/guybrush/view/bag.py
index a2eadf7f..8b89272b 100644
--- a/host/simu/robots/guybrush/view/bag.py
+++ b/host/simu/robots/guybrush/view/bag.py
@@ -38,6 +38,8 @@ class Bag:
'Color')
self.strat_switch = Switch (sensor_frame, model_bag.strat_switch,
'Strat')
+ self.nb_robots_switch = Switch (sensor_frame,
+ model_bag.nb_robots_switch, 'Nb robots')
self.robot = Robot (table, model_bag.position, model_bag.clamps)
self.clamps = ClampsSide (actuator_view.add_view (ClampsSide.width,
ClampsSide.height), model_bag.clamps)