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authorNicolas Schodet2012-03-28 20:24:22 +0200
committerNicolas Schodet2012-03-28 22:19:14 +0200
commitd0aec27b44e7b7dae6ddb583498956829e3bb33e (patch)
treeca2f7fbdcbca4f512177c56b64041f820653c84b /digital/asserv/tools/asserv
parent52de9864646b18b364fea06561bfe283f835f217 (diff)
digital/asserv/tools: add missing eps and aeps parameters
Diffstat (limited to 'digital/asserv/tools/asserv')
-rw-r--r--digital/asserv/tools/asserv/asserv.py2
1 files changed, 2 insertions, 0 deletions
diff --git a/digital/asserv/tools/asserv/asserv.py b/digital/asserv/tools/asserv/asserv.py
index f96158b7..eb60f4d6 100644
--- a/digital/asserv/tools/asserv/asserv.py
+++ b/digital/asserv/tools/asserv/asserv.py
@@ -108,6 +108,7 @@ class Proto:
scale = 1,
e_sat = 1023, i_sat = 1023, d_sat = 1023,
encoder_right_correction = 1, footing = 0x1000,
+ eps = 500, aeps = 0x100,
angle_limit = 0x2000,
l_reverse = False, r_reverse = False,
)
@@ -319,6 +320,7 @@ class Proto:
self.proto.send ('p', 'cH', 'D', p['d_sat'])
self.proto.send ('p', 'cL', 'c', f824 (p['encoder_right_correction']))
self.proto.send ('p', 'cH', 'f', p['footing'])
+ self.proto.send ('p', 'cHH', 'e', p['eps'], p['aeps'])
self.proto.send ('p', 'cH', 'l', p['angle_limit'])
output_index = [ 'l', 'r' ] + [ 'a%d' % i
for i in xrange (self.aux_nb) ]