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-rw-r--r--host/simu/model/table_eurobot2012.py5
-rw-r--r--host/simu/robots/guybrush/model/bag.py14
-rw-r--r--host/simu/robots/guybrush/model/clamps.py2
3 files changed, 11 insertions, 10 deletions
diff --git a/host/simu/model/table_eurobot2012.py b/host/simu/model/table_eurobot2012.py
index 38960513..36dbf12f 100644
--- a/host/simu/model/table_eurobot2012.py
+++ b/host/simu/model/table_eurobot2012.py
@@ -90,4 +90,9 @@ class Table (simu.model.table.Table):
# Add everything to obstacles.
self.obstacles += self.coins
self.obstacles += self.gold_bars
+ # Add totem as obstacles.
+ for i in (-1, 1):
+ o = RectangularObstacle ((250, 250), 3)
+ o.pos = (1500 + i * 400, 1000)
+ self.obstacles.append (o)
diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py
index f9c98814..a6302f44 100644
--- a/host/simu/robots/guybrush/model/bag.py
+++ b/host/simu/robots/guybrush/model/bag.py
@@ -72,21 +72,15 @@ class Bag:
output[self.OUTPUT_DOOR_OPEN], scheduler,
0., 1., 1., 1., 1., contact[7], contact[6])
)
- def distance_sensor_exclude (o):
- return o is self.beacon
self.distance_sensor = [
DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table,
- (20, 20), pi * 10 / 180, (self.position, ), 5,
- distance_sensor_exclude),
+ (120, 0), 0, (self.position, ), 4),
DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table,
- (20, -20), -pi * 10 / 180, (self.position, ), 5,
- distance_sensor_exclude),
+ (120, 160), 0, (self.position, ), set ([3, 4])),
DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table,
- (-20, -20), pi + pi * 10 / 180, (self.position, ), 5,
- distance_sensor_exclude),
+ (120, -160), 0, (self.position, ), set ([3, 4])),
DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table,
- (-20, 20), pi - pi * 10 / 180, (self.position, ), 5,
- distance_sensor_exclude),
+ (-130, 0), pi, (self.position, ), 4),
]
self.path = link_bag.io_hub.path
self.pos_report = link_bag.io_hub.pos_report
diff --git a/host/simu/robots/guybrush/model/clamps.py b/host/simu/robots/guybrush/model/clamps.py
index 5d75ecb4..664f0bdd 100644
--- a/host/simu/robots/guybrush/model/clamps.py
+++ b/host/simu/robots/guybrush/model/clamps.py
@@ -155,6 +155,8 @@ class Clamps (Observable):
def __add_load (self, elements):
"""Add element list to load."""
+ for e in elements:
+ e.level = 1
self.load.extend (elements)
def __get_floor_elements (self):