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-rw-r--r--digital/ai/tools/test_simu_control_robospierre.py13
1 files changed, 3 insertions, 10 deletions
diff --git a/digital/ai/tools/test_simu_control_robospierre.py b/digital/ai/tools/test_simu_control_robospierre.py
index acd3ca7c..77f017c2 100644
--- a/digital/ai/tools/test_simu_control_robospierre.py
+++ b/digital/ai/tools/test_simu_control_robospierre.py
@@ -106,10 +106,7 @@ class TestSimuControl (TestSimu):
self.asserv.goto_angle (a)
def clamp_command (self):
- if self.clamp_var.get ():
- self.io.pwm_set_timed (2, -0x3ff, 255, 0)
- else:
- self.io.pwm_set_timed (2, 0x3ff, 255, 0)
+ self.io.clamp_openclose (not self.clamp_var.get ())
def elevation_up_command (self):
self.mimot.speed_pos ('a0', self.ELEVATION_STROKE / 2)
@@ -131,12 +128,8 @@ class TestSimuControl (TestSimu):
self.clamp_to_scale.get ())
def doors_command (self):
- if self.doors_var.get ():
- pwm = -0x3ff
- else:
- pwm = 0x3ff
- for i in (0, 1, 3, 4):
- self.io.pwm_set_timed (i, pwm, 255, 0)
+ for i in (0, 2, 3, 5):
+ self.io.door (i, not self.doors_var.get ())
def drop_command (self):
if self.drop_var.get ():