From e5955adc9c33cee7d2fdda723fb02a2af5e612be Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 7 May 2009 22:39:46 +0200 Subject: * digital/asserv: - added forward go to the wall. - use defines for contacts. --- digital/asserv/tools/asserv/asserv.py | 6 ++++++ digital/asserv/tools/inter_asserv.py | 6 ++++++ 2 files changed, 12 insertions(+) (limited to 'digital/asserv/tools') diff --git a/digital/asserv/tools/asserv/asserv.py b/digital/asserv/tools/asserv/asserv.py index 5c7830c6..a8b5c753 100644 --- a/digital/asserv/tools/asserv/asserv.py +++ b/digital/asserv/tools/asserv/asserv.py @@ -246,6 +246,12 @@ class Proto: self._angle_f16 (a), self.mseq) self.wait (self.finished, auto = True) + def ftw (self, backward = True): + """Go to the wall.""" + self.mseq += 1 + self.proto.send ('f', 'BB', backward and 1 or 0, self.mseq) + self.wait (self.finished, auto = True) + def set_simu_pos (self, x, y, a): """Set simulated position.""" self.proto.send ('h', 'chhh', 'X', int (round (x)), int (round (y)), diff --git a/digital/asserv/tools/inter_asserv.py b/digital/asserv/tools/inter_asserv.py index a3af95ea..144c79a3 100644 --- a/digital/asserv/tools/inter_asserv.py +++ b/digital/asserv/tools/inter_asserv.py @@ -71,6 +71,9 @@ class InterAsserv (Inter): self.backwardOkButton = Checkbutton (self.rightFrame, text = 'backward ok', variable = self.backwardOkVar) self.backwardOkButton.pack () + self.ftwButton = Button (self.rightFrame, text = 'FTW', + command = self.ftw) + self.ftwButton.pack () self.tableview.configure (cursor = 'crosshair') self.tableview.bind ('<1>', self.button1) @@ -115,6 +118,9 @@ class InterAsserv (Inter): def emergency_stop (self): self.a.free () + def ftw (self): + self.a.ftw (self.backwardOkVar.get ()) + if __name__ == '__main__': import sys app = InterAsserv (sys.argv[1:]) -- cgit v1.2.3