From eb2c866a65980de8c7447a72d91d9dea7d36ffbf Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 5 May 2009 08:27:34 +0200 Subject: * host/simu: - added elevator doors. --- host/simu/robots/aquajim/model/bag.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) (limited to 'host/simu/robots/aquajim/model/bag.py') diff --git a/host/simu/robots/aquajim/model/bag.py b/host/simu/robots/aquajim/model/bag.py index d8231e6b..6cbc52ef 100644 --- a/host/simu/robots/aquajim/model/bag.py +++ b/host/simu/robots/aquajim/model/bag.py @@ -24,6 +24,7 @@ """AquaJim bag of models.""" from simu.model.switch import Switch from simu.model.position import Position +from simu.model.motor_basic import MotorBasic from simu.model.distance_sensor_sharps import DistanceSensorSharps from simu.robots.aquajim.model.sorter import Sorter from math import pi @@ -34,8 +35,11 @@ class Bag: self.jack = Switch (link_bag.io.jack) self.color_switch = Switch (link_bag.io.color_switch) self.position = Position (link_bag.asserv.position) + self.elevator_door = MotorBasic (link_bag.io.pwm[0], scheduler, + 2 * pi, 0, pi / 2) self.sorter = Sorter (table, link_bag.asserv.aux[0], - link_bag.asserv.aux[1], link_bag.io.servo[0:2]) + link_bag.asserv.aux[1], link_bag.io.servo[0:2], + self.elevator_door) self.distance_sensor = [ DistanceSensorSharps (link_bag.io.adc[0], scheduler, table, (150, 150), 0, (self.position, )), -- cgit v1.2.3