From eb6b2f870e5632b4f51dc2477b1bee2677db7da1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 30 Mar 2009 00:19:49 +0200 Subject: * digital/asserv/tools: - use scale for speed controlled position offset. --- digital/asserv/tools/asserv/asserv.py | 16 ++++++++++++++-- 1 file changed, 14 insertions(+), 2 deletions(-) (limited to 'digital/asserv/tools/asserv') 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: -- cgit v1.2.3