From cf8fbdbfb994576b6f3278602c25e84795deac11 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 14 Apr 2012 20:18:16 +0200 Subject: digital: use 16bit speed --- digital/asserv/tools/asserv/asserv.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) (limited to 'digital/asserv/tools/asserv') 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'], -- cgit v1.2.3