Add a third reflectance sensor

sourcebots · Jul 14, 2024 · 5ee3ebe · 5ee3ebe
1 parent 9fcec9d
commit 5ee3ebe
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Showing 3 changed files with 13 additions and 5 deletions.
diff --git a/simulator/modules/sbot_interface/setup.py b/simulator/modules/sbot_interface/setup.py
@@ -87,8 +87,9 @@ def setup_devices(log_level: int | str = logging.WARNING) -> SocketServer:
                 MicroSwitch('front right bump sensor'),  # pin 11
                 MicroSwitch('rear left bump sensor'),  # pin 12
                 MicroSwitch('rear right bump sensor'),  # pin 13
-                ReflectanceSensor('reflectance sensor 1'),  # pin A0
-                ReflectanceSensor('reflectance sensor 2'),  # pin A1
+                ReflectanceSensor('left reflectance sensor'),  # pin A0
+                ReflectanceSensor('center reflectance sensor'),  # pin A1
+                ReflectanceSensor('right reflectance sensor'),  # pin A2
             ],
             asset_tag='Arduino1',
         ),

diff --git a/simulator/protos/SRObot.proto b/simulator/protos/SRObot.proto
@@ -131,12 +131,19 @@ PROTO SRObot [
             translation -0.12 -0.05 -0.008
           }
           ReflectanceSensor {
-            name "reflectance sensor 1"
+            name "left reflectance sensor"
             translation 0.03 0.02 -0.03
+            rotation 0 0 1 1.5708
           }
           ReflectanceSensor {
-            name "reflectance sensor 2"
+            name "center reflectance sensor"
+            translation 0.03 0 -0.03
+            rotation 0 0 1 1.5708
+          }
+          ReflectanceSensor {
+            name "right reflectance sensor"
             translation 0.03 -0.02 -0.03
+            rotation 0 0 1 1.5708
           }
           BumpSensor {
             name "front left bump sensor"

diff --git a/simulator/protos/robot/ReflectanceSensor.proto b/simulator/protos/robot/ReflectanceSensor.proto
@@ -27,7 +27,7 @@ PROTO ReflectanceSensor [
                   metalness 0
                 }
                 geometry Box {
-                  size 0.002 0.045 0.02
+                  size 0.002 0.045 0.015
                 }
                 castShadows FALSE
               }