From e1461c339607f82433bd60910ac4dfe5ff051219 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 7 Apr 2013 01:50:01 +0200 Subject: host/simu: add cake sensor simulation --- host/simu/robots/apbirthday/model/bag.py | 5 +++++ host/simu/robots/apbirthday/view/bag.py | 3 +++ 2 files changed, 8 insertions(+) (limited to 'host/simu/robots') diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py index ce2c8667..2c026740 100644 --- a/host/simu/robots/apbirthday/model/bag.py +++ b/host/simu/robots/apbirthday/model/bag.py @@ -25,6 +25,7 @@ from simu.model.switch import Switch from simu.model.position import Position from simu.model.round_obstacle import RoundObstacle +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 @@ -51,6 +52,10 @@ class Bag: DistanceSensorSensopart (link_bag.adc_dist[3], scheduler, table, (-83, -120), pi, (self.position, ), 4), ] + self.cake_front = DistanceSensorTrig (link_bag.adc_cake_front, + scheduler, table, (80, 136), pi / 2, (self.position, ), 0) + self.cake_back = DistanceSensorTrig (link_bag.adc_cake_back, + scheduler, table, (-66, 139), pi / 2, (self.position, ), 0) self.cake_arm = CakeArm (table, self.position, PneumaticCylinder ( link_bag.cake_arm_in, diff --git a/host/simu/robots/apbirthday/view/bag.py b/host/simu/robots/apbirthday/view/bag.py index a5d733e1..6a9e2d3d 100644 --- a/host/simu/robots/apbirthday/view/bag.py +++ b/host/simu/robots/apbirthday/view/bag.py @@ -23,6 +23,7 @@ # }}} """APBirthday bag of views.""" from simu.view.switch import Switch +from simu.view.distance_sensor import DistanceSensor from simu.view.distance_sensor_us import DistanceSensorUS from simu.view.pos_report import PosReport from simu.robots.apbirthday.view.robot import Robot @@ -36,5 +37,7 @@ class Bag: self.robot = Robot (table, model_bag.position, model_bag.cake_arm) self.distance_sensor = [DistanceSensorUS (self.robot, ds) for ds in model_bag.distance_sensor] + self.cake_front = DistanceSensor (self.robot, model_bag.cake_front) + self.cake_back = DistanceSensor (self.robot, model_bag.cake_back) self.pos_report = PosReport (table, model_bag.pos_report) -- cgit v1.2.3