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authorNicolas Schodet2009-05-03 00:19:36 +0200
committerNicolas Schodet2009-05-03 00:19:36 +0200
commitcab14d84256329f483c53f658a205415a5c029f4 (patch)
tree44a20ec1f8300692bb16bb1eaa8d67f61c979acc /digital/asserv/tools/asserv/asserv.py
parentbaa80c85ef51e79e23f243ea13e5606ade131c53 (diff)
* digital/asserv:
- changed blocking detection.
Diffstat (limited to 'digital/asserv/tools/asserv/asserv.py')
-rw-r--r--digital/asserv/tools/asserv/asserv.py8
1 files changed, 6 insertions, 2 deletions
diff --git a/digital/asserv/tools/asserv/asserv.py b/digital/asserv/tools/asserv/asserv.py
index 323d74c6..5c7830c6 100644
--- a/digital/asserv/tools/asserv/asserv.py
+++ b/digital/asserv/tools/asserv/asserv.py
@@ -106,14 +106,17 @@ class Proto:
scale = 1,
tkp = 0, tki = 0, tkd = 0,
ta = 1, tsm = 0, tss = 0,
+ tbe = 2048, tbs = 0x10, tbc = 20,
akp = 0, aki = 0, akd = 0,
aa = 1, asm = 0, ass = 0,
+ abe = 2048, abs = 0x10, abc = 20,
a0kp = 0, a0ki = 0, a0kd = 0,
a0a = 1, a0sm = 0, a0ss = 0,
+ a0be = 2048, a0bs = 0x10, a0bc = 20,
a1kp = 0, a1ki = 0, a1kd = 0,
a1a = 1, a1sm = 0, a1ss = 0,
+ a1be = 2048, a1bs = 0x10, a1bc = 20,
E = 1023, I = 1023, D = 1023,
- be = 2048, bs = 0x10, bc = 20,
c = 1, f = 0x1000,
l = 0x2000,
w = 0x00,
@@ -273,10 +276,11 @@ class Proto:
self.proto.send ('p', 'cBH', 'd', index, f88 (p[m + 'kd']))
self.proto.send ('p', 'cBH', 'a', index, f88 (p[m + 'a']))
self.proto.send ('p', 'cBBB', 's', index, p[m + 'sm'], p[m + 'ss'])
+ self.proto.send ('p', 'cBHHB', 'b', index, p[m + 'be'],
+ p[m + 'bs'], p[m + 'bc'])
self.proto.send ('p', 'cH', 'E', p['E'])
self.proto.send ('p', 'cH', 'I', p['I'])
self.proto.send ('p', 'cH', 'D', p['D'])
- self.proto.send ('p', 'cHHH', 'b', p['be'], p['bs'], p['bc'])
self.proto.send ('p', 'cL', 'c', f824 (p['c']))
self.proto.send ('p', 'cH', 'f', p['f'])
self.proto.send ('p', 'cH', 'l', p['l'])