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authorNicolas Schodet2009-03-30 00:19:49 +0200
committerNicolas Schodet2009-03-30 00:19:49 +0200
commiteb6b2f870e5632b4f51dc2477b1bee2677db7da1 (patch)
tree4b445ecf2a6ef77a5944e2be7cfc3804fda95a03 /digital/asserv/tools/asserv
parent2a8c99d6bab4bbdb93cd825c21720b1596122757 (diff)
* digital/asserv/tools:
- use scale for speed controlled position offset.
Diffstat (limited to 'digital/asserv/tools/asserv')
-rw-r--r--digital/asserv/tools/asserv/asserv.py16
1 files changed, 14 insertions, 2 deletions
diff --git a/digital/asserv/tools/asserv/asserv.py b/digital/asserv/tools/asserv/asserv.py
index 7109e7b3..eba1dac1 100644
--- a/digital/asserv/tools/asserv/asserv.py
+++ b/digital/asserv/tools/asserv/asserv.py
@@ -185,16 +185,28 @@ class Proto:
"""Speed controlled position consign."""
if w == 't':
self.mseq += 1
- self.proto.send ('s', 'LLB', offset, 0, self.mseq)
+ self.proto.send ('s', 'LLB', offset / self.param['scale'], 0,
+ self.mseq)
elif w == 'a':
self.mseq += 1
- self.proto.send ('s', 'LLB', 0, offset, self.mseq)
+ self.proto.send ('s', 'LLB', 0, offset / self.param['scale'],
+ self.mseq)
else:
assert w == 'a0'
self.a0seq += 1
self.proto.send ('s', 'LB', offset, self.a0seq)
self.wait (self.finished, auto = True)
+ def speed_angle (self, w, angle):
+ """Speed controlled angle consign."""
+ if w == 'a':
+ self.mseq += 1
+ self.proto.send ('s', 'LLB', 0, angle * self.param['f'],
+ self.mseq)
+ else:
+ assert 0
+ self.wait (self.finished, auto = True)
+
def set_pos (self, x = None, y = None, a = None):
"""Set current position."""
if x is not None: