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-rw-r--r--digital/asserv/tools/asserv.py12
1 files changed, 12 insertions, 0 deletions
diff --git a/digital/asserv/tools/asserv.py b/digital/asserv/tools/asserv.py
index 8b0752ec..2687099f 100644
--- a/digital/asserv/tools/asserv.py
+++ b/digital/asserv/tools/asserv.py
@@ -123,6 +123,18 @@ class Asserv:
assert w == 'a0'
self.proto.send ('s', 'b', s)
+ def speed_pos (self, w, offset):
+ """Speed controlled position consign."""
+ self.seq += 1
+ if w == 't':
+ self.proto.send ('s', 'LLB', offset, 0, self.seq)
+ elif w == 'a':
+ self.proto.send ('s', 'LLB', 0, offset, self.seq)
+ else:
+ assert w == 'a0'
+ self.proto.send ('s', 'LB', offset, self.seq)
+ self.wait (self.finished)
+
def goto (self, x, y):
"""Go to position."""
self.seq += 1