From a32cf498ca953e0ebc0558958977ecd37fc741a5 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 15 Apr 2013 22:24:42 +0200 Subject: host/simu, host/simu/robots/apbirthday: add plate loading simulation --- host/simu/robots/apbirthday/model/bag.py | 11 +++++++++++ 1 file changed, 11 insertions(+) (limited to 'host/simu/robots/apbirthday/model/bag.py') diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py index 28295e63..2043270b 100644 --- a/host/simu/robots/apbirthday/model/bag.py +++ b/host/simu/robots/apbirthday/model/bag.py @@ -29,6 +29,7 @@ from simu.model.distance_sensor_trig import DistanceSensorTrig from simu.model.distance_sensor_sensopart import DistanceSensorSensopart from simu.model.pneumatic_cylinder import PneumaticCylinder from simu.robots.apbirthday.model.cake_arm import CakeArm +from simu.robots.apbirthday.model.cannon import Cannon from math import pi import random @@ -72,5 +73,15 @@ class Bag: link_bag.cake_push_near_out, scheduler, 0., 1., 10., 10., 0.), link_bag.cake_arm_out_contact, link_bag.cake_arm_in_contact) + self.cannon = Cannon (table, self.position, + PneumaticCylinder ( + link_bag.cherry_plate_up, + link_bag.cherry_plate_down, + scheduler, 0., 1., 2., 2., 1.), + PneumaticCylinder (None, + link_bag.cherry_plate_clamp, + scheduler, 0., 1., 10., 10., 0.), + (Switch (link_bag.cherry_plate_left_contact), + Switch (link_bag.cherry_plate_right_contact))) self.pos_report = link_bag.io_hub.pos_report -- cgit v1.2.3