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authorNicolas Schodet2013-04-22 19:41:22 +0200
committerNicolas Schodet2013-04-22 19:41:50 +0200
commiteb45102670d7e8fade34cd3a45b392ce672eef34 (patch)
tree7272cf338eefc9f15b00e7e57ef4202fc9f084dc /digital/asserv/tools/asserv/asserv.py
parent52ff022fb1e2cc67035f9545cfafd87417409005 (diff)
digital/asserv/tools: add move_distance & move_angle
Diffstat (limited to 'digital/asserv/tools/asserv/asserv.py')
-rw-r--r--digital/asserv/tools/asserv/asserv.py12
1 files changed, 12 insertions, 0 deletions
diff --git a/digital/asserv/tools/asserv/asserv.py b/digital/asserv/tools/asserv/asserv.py
index b2b1cfbb..12645172 100644
--- a/digital/asserv/tools/asserv/asserv.py
+++ b/digital/asserv/tools/asserv/asserv.py
@@ -273,6 +273,18 @@ class Proto:
self.proto.send ('y', 'BhB', i, pos, self.aseq[i])
self.wait (self.finished, auto = True)
+ def move_distance (self, d):
+ """Move by a specified distance."""
+ self.mseq += 1
+ self.proto.send ('l', 'lB', self._dist (d), self.mseq)
+ self.wait (self.finished, auto = True)
+
+ def move_angle (self, a):
+ """Move by a specified angle."""
+ self.mseq += 1
+ self.proto.send ('a', 'lB', self._angle_f824 (a), self.mseq)
+ self.wait (self.finished, auto = True)
+
def ftw (self, backward = True):
"""Go to the wall."""
self.mseq += 1