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authorNicolas Schodet2012-04-14 20:18:16 +0200
committerNicolas Schodet2012-04-18 00:15:39 +0200
commitcf8fbdbfb994576b6f3278602c25e84795deac11 (patch)
tree0df97f234a58dbbe11446c45e7c881ee6c43fe71 /digital/asserv/tools
parentf822fa8ea23487eb98bc469802ba8497b2545a1c (diff)
digital: use 16bit speed
Diffstat (limited to 'digital/asserv/tools')
-rw-r--r--digital/asserv/tools/asserv/asserv.py10
1 files changed, 5 insertions, 5 deletions
diff --git a/digital/asserv/tools/asserv/asserv.py b/digital/asserv/tools/asserv/asserv.py
index b97174e0..fb45c633 100644
--- a/digital/asserv/tools/asserv/asserv.py
+++ b/digital/asserv/tools/asserv/asserv.py
@@ -36,7 +36,7 @@ class Proto:
stats_format = {
'C': 'HHHH',
- 'S': 'bbbb',
+ 'S': 'hhhh',
'P': 'hhhh',
'Q': 'hhhh',
'W': 'hhhh',
@@ -189,11 +189,11 @@ class Proto:
def speed (self, w, s):
"""Speed consign."""
if w == 't':
- self.proto.send ('s', 'bb', s, 0)
+ self.proto.send ('s', 'hh', s, 0)
elif w == 'a':
- self.proto.send ('s', 'bb', 0, s)
+ self.proto.send ('s', 'hh', 0, s)
else:
- self.proto.send ('S', 'Bb', self._index[w], s)
+ self.proto.send ('S', 'Bh', self._index[w], s)
def speed_pos (self, w, offset):
"""Speed controlled position consign."""
@@ -310,7 +310,7 @@ class Proto:
self.proto.send ('p', 'cBH', 'i', index, f88 (p[m + '_ki']))
self.proto.send ('p', 'cBH', 'd', index, f88 (p[m + '_kd']))
self.proto.send ('p', 'cBH', 'a', index, f88 (p[m + '_acc']))
- self.proto.send ('p', 'cBBB', 's', index, p[m + '_speed_max'],
+ self.proto.send ('p', 'cBHH', 's', index, p[m + '_speed_max'],
p[m + '_speed_slow'])
self.proto.send ('p', 'cBHHB', 'b', index,
p[m + '_bd_error_limit'], p[m + '_bd_speed_limit'],