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authorNicolas Schodet2012-05-12 14:43:44 +0200
committerNicolas Schodet2012-05-12 14:55:05 +0200
commit38aa82a1a03efd53933957fece2e19567afbe6bd (patch)
tree0ba9d4ddf9c55f99c48f27f338859abbdb534bad /digital/mimot
parent4ffad1b7ff25687245747f30060b3d87663d8300 (diff)
digital/asserv, digital/mimot: add blocking simulation
Diffstat (limited to 'digital/mimot')
-rw-r--r--digital/mimot/src/dirty/main.c7
-rw-r--r--digital/mimot/tools/mimot/mimot.py4
2 files changed, 11 insertions, 0 deletions
diff --git a/digital/mimot/src/dirty/main.c b/digital/mimot/src/dirty/main.c
index e294c8bf..f6b7fd6a 100644
--- a/digital/mimot/src/dirty/main.c
+++ b/digital/mimot/src/dirty/main.c
@@ -224,6 +224,13 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
output_set (output, v8_to_v16 (args[1], args[2]));
control_state_set_mode (state, CS_MODE_NONE, 0);
break;
+ case c ('b', 1):
+ /* Simulate a blocked state on auxiliary motor.
+ * - b: aux index. */
+ if (!auxp) { proto_send0 ('?'); return; }
+ output_set (output, 0);
+ control_state_blocked (state);
+ break;
case c ('b', 2):
/* Set brake and set zero auxiliary pwm.
* - b: aux index.
diff --git a/digital/mimot/tools/mimot/mimot.py b/digital/mimot/tools/mimot/mimot.py
index cb4caace..01d2b74a 100644
--- a/digital/mimot/tools/mimot/mimot.py
+++ b/digital/mimot/tools/mimot/mimot.py
@@ -134,6 +134,10 @@ class Proto:
del self.stats_line
return array
+ def block (self, w):
+ """Simulate blocking."""
+ self.proto.send ('b', 'B', self._index[w])
+
def consign (self, w, c):
"""Consign offset."""
self.proto.send ('c', 'Bh', self._index[w], c)