From cbb9c4780b3551df44b0a1ca7ae08ca4497f1b02 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 31 Mar 2012 14:24:53 +0200 Subject: host/simu/robots/guybrush: simulate lower clamps sensors --- host/simu/robots/guybrush/model/bag.py | 3 ++- host/simu/robots/guybrush/model/clamps.py | 16 ++++++++++++---- 2 files changed, 14 insertions(+), 5 deletions(-) (limited to 'host/simu/robots') diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py index 6ff18194..3b6cc857 100644 --- a/host/simu/robots/guybrush/model/bag.py +++ b/host/simu/robots/guybrush/model/bag.py @@ -43,7 +43,8 @@ class Bag: (PneumaticCylinder (None, link_bag.io_hub.output[8], scheduler, 0., 30., 150., 75., 30.), PneumaticCylinder (None, link_bag.io_hub.output[9], - scheduler, 0., 30., 150., 75., 30.))) + scheduler, 0., 30., 150., 75., 30.)), + [ Switch (c) for c in link_bag.io_hub.contact[3:3+4] ]) self.distance_sensor = [ DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table, (20, 20), pi * 10 / 180, (self.position, ), 2), diff --git a/host/simu/robots/guybrush/model/clamps.py b/host/simu/robots/guybrush/model/clamps.py index 91e24f9b..1cfc30f1 100644 --- a/host/simu/robots/guybrush/model/clamps.py +++ b/host/simu/robots/guybrush/model/clamps.py @@ -29,12 +29,13 @@ from math import pi class Clamps (Observable): def __init__ (self, table, robot_position, lower_clamp_motor, - lower_clamp_cylinders): + lower_clamp_cylinders, lower_clamp_sensors): Observable.__init__ (self) self.table = table self.robot_position = robot_position self.lower_clamp_motor = lower_clamp_motor self.lower_clamp_cylinders = lower_clamp_cylinders + self.lower_clamp_sensors = lower_clamp_sensors self.lower_clamp_clamping = [ None, None ] self.lower_clamp_content = [ [ ], [ ] ] self.lower_clamp_motor.register (self.__lower_clamp_notified) @@ -84,9 +85,16 @@ class Clamps (Observable): for e, y in self.lower_clamp_content[top_clamp]]) self.lower_clamp_content[top_clamp] = [ ] changed = True - # If something is found, there can be updates. - if changed: - pass + # Update sensors view. + old_state = self.lower_clamp_sensors[0].state + if floor_clamp is None: + new_state = True + else: + new_state = not self.lower_clamp_content[floor_clamp] + if new_state != old_state: + for s in self.lower_clamp_sensors: + s.state = new_state + s.notify () return changed def __add_load (self, elements): -- cgit v1.2.3